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Delta AX-5 Series Operation Manual
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Delta AX-5 Series Operation Manual

Delta AX-5 Series Operation Manual

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Digitized Automation for a Changing World
AX-5 Series Operation Manual
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Summary of Contents for Delta AX-5 Series

  • Page 1 Digitized Automation for a Changing World AX-5 Series Operation Manual www.deltaww.com...
  • Page 2 AX-5 Series Operation Manual Revision History Ve r s i o n R e v i s i o n D a t e T h e f i r s t v e r s i o n w a s p u b l i s h e d .
  • Page 4 AX-5 Series Operation Manual Table of Contents Chapter 1 Product Introduction Overview ................... 1-3 1.1.1 Related Manuals ................1-3 1.1.2 Table of Models and Descriptions ............. 1-3 DIADesigner-AX Software Overview ..........1-5 1.2.1 Features ..................1-5 Chapter 2 Specifications and System Configurations Technical Specifications ..............
  • Page 5 Chapter 3 Installing and Uninstalling DIADesigner-AX Installing and Uninstalling DIADesigner-AX ........3-2 3.1.1 Installing DIADesign-AX ..............3-3 3.1.2 Uninstalling DIADesigner-AX ............3-10 Getting Started and Setting up Communication ....... 3-11 3.2.1 Getting Started ................3-11 3.2.2 Setting up Communication ............3-12 Chapter 4 Basic Operation Introduction on DIADesigner-AX ............
  • Page 6 Chapter 6 Network Configuration Network Configuration ..............6-2 6.1.1 Introduction ................. 6-2 6.1.2 Basic Knowledge ................6-3 6.1.3 Creating a Network Topology ............6-5 Chapter 7 Motion Control Basic Settings and Operation Introduction on Motion Control Instructions ........7-3 7.1.1 Motion Control Instructions .............
  • Page 7 7.7.1 System Structure ................. 7-73 7.7.2 Single-axis Control ............... 7-73 7.7.3 Velocity Control ................7-92 7.7.4 Torque control ................7-94 7.7.5 Common Functions for Single-axis Control ........7-95 7.7.6 Axis Group Control ..............7-101 7.7.7 High-speed IO ................7-106 7.7.8 Other Features ................
  • Page 8 8.4.1 Introduction on EtherNet/IP ............... 8-55 8.4.2 EtherNet/IP Scanner Function ............8-59 8.4.3 EtherNet/IP Adapter Function ............8-79 8.4.4 Operational Example of EtherNet/IP Scanner ........8-87 8.4.5 Example of Connecting to a Third Party (Allen Bradley Controllogix 1756-L71) ....................8-103 8.4.6 CIP Object ..................
  • Page 9 9.2.1 Operation of Startup Command ............. 9-11 9.2.2 Example ..................9-14 Protection Mechanisms ..............9-16 9.3.1 Project Encryption ................ 9-16 9.3.2 Account Permission ..............9-19 9.3.3 Project ID and PLC ID ..............9-26 System Event ................... 9-30 9.4.1 Event Handler ................9-30 9.4.2 Operational Example ..............
  • Page 10 A.4.4 Troubleshooting of Load Cell Modules ..........A-20 Error Codes and LED Indicators for CPU Modules ......A-21 A.5.1 Error Codes and LED Indicators for CPU Modules ......A-22 A.5.2 Error Codes and LED Indicators for Analog and Temperature Module ... A-23 A.5.3 Error Codes and LED Indicators for Positioning (PU) Module ....
  • Page 11 Caution  This is an OPEN TYPE module and therefore should be installed in an enclosure free of airborne dust, humidity, electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g. key or specific tools are required for operating the enclosure) in case danger and damage on the device may occur. ...
  • Page 12 Chapter 1 Product Introduction Table of Contents Overview ....................1-3 1.1.1 Related Manuals ................1-3 1.1.2 Table of Models and Descriptions ............1-3 DIADesigner-AX Software Overview ............1-5 1.2.1 Features ................... 1-5 1 - 2...
  • Page 13 1.1.1 Related Manuals The related manuals for AX-5 Series PLC are listed below. DIADesigner-AX Software Manual  This introduces the use of the DIADesigner-AX software, programming language (Ladder, SFC, ST and FBD), POUs, tasks and programming for motion controls.
  • Page 14 A X - 5 S e r i e s O p e r a t i o n M a n u a l Classification Model Name Description 1x USB-Type A port, 1x USB-Type C, Micro SD interface, Program capacity: 64 MB, removable terminal blocks 64-axis motion controller CPU module, 12x DIs (100 kHz, NPN), 4x DOs (80 kHz, NPN), 2x Ethernet ports (independent IPs),...
  • Page 15 C h a p t e r 1 P r o d u c t I n t r o d u c t i o n DIADesigner-AX Software Overview Conformed to IEC61131-3, DIADesigner-AX is a new programming tool for a new generation Delta PLC. With the abundant applied instructions and an adequate motion function library, DIADesigner-AX provides a friendly and multilingual programming interface for a more convenient and efficient development environment.
  • Page 16 A X - 5 S e r i e s O p e r a t i o n M a n u a l MEMO 1 - 6...
  • Page 17 Specifications and System Configurations Table of Contents Technical Specifications ................. 2-2 2.1.1 Certifications and Standards ............... 2-2 2.1.2 Electromagnetic Compatibility ............. 2-2 2.1.3 Transport and Storage ................ 2-3 2.1.4 Protection Class ................2-4 Hardware Installation ................2-5 2.2.1 Installing Modules ................2-5 2.2.2 Installing and Removing a Terminal Block ..........
  • Page 18 Technical Specifications In this section, you can find applicable technical specifications, compliances, and certifications for AX-5 series products. Certifications and Standards AX-5 series products have obtained the following certificate of compliances and met the safety, health, environment, and other requirements. Certification...
  • Page 19 0.5 to 30 MHz: < 73 dB (μV) quasi-peak < 60 dB (μV) average Transport and Storage The original packaging of AX-5 series is in compliant with IEC (EN) 61131-2 standard, in terms of transport and storage. The conditions and specifications are listed in the table below. Condition...
  • Page 20 *1: AX-5 Series controller works with AX-5 Series modules. *2: AX-5 Series coupler works with AX-5 Series modules. Protection Class The following table shows the information related to protection class for AX-5 series. Type Description Designed in accordance with IEC/EN 61131-2, IEC/EN 61010-1 and Insulation IEC/EN 61010-2-201.
  • Page 21 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s Hardware Installation Installing Modules Steps for installing modules are shown below:...
  • Page 22 A X - 5 S e r i e s O p e r a t i o n M a n u a l First align the upper and lower guides before pushing the module towards the rail when installing an I/O module. Install the protective cover at the end position, just like installing a module, by aligning the cover and then pushing it towards the rail.
  • Page 23 If there is a vibration source on the installation site, installing anti-vibration baffles on both the leftmost and rightmost sides of the AX-5 series modules is recommended to stabilize all modules. See the gray baffles on the two sides in the following figure.
  • Page 24 A X - 5 S e r i e s O p e r a t i o n M a n u a l Install the baffles: Hook the baffle onto the DIN rail and press it down as the directional arrow shows below. Use a screwdriver to tighten the screw of the baffle after the baffle is clipped up on the rail.
  • Page 25 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s The completed baffle installation is as shown below.
  • Page 26 A X - 5 S e r i e s O p e r a t i o n M a n u a l Removal Press down the clip at the top of the removable terminal block and move it outward. Keeping the cable secured into a terminal hole of the terminal block: Press down the part ①...
  • Page 27 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s Note 1: Specifications of screwdriver Note 2: Operation of screwdriver: Correct operation...
  • Page 28 A X - 5 S e r i e s O p e r a t i o n M a n u a l Incorrect operation  2 - 1 2...
  • Page 29 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s After wiring terminal blocks is completed, you can organize the cables by fastening them with a plastic cable tie through the cable tie hole below each terminal block.
  • Page 30 A X - 5 S e r i e s O p e r a t i o n M a n u a l Replacing a Module Remove the terminal block from a module, and then pull out the upper and lower clips of the module as shown below. Remove the module.
  • Page 31 Installing and Removing a SD Card SD card slot of a PLC CPU  The SD card slot is on the front side of the AX-5 Series PLC CPU, as indicated by the arrows in the diagram below. SD Card Slot Installing a SD card ...
  • Page 32 A X - 5 S e r i e s O p e r a t i o n M a n u a l Suggestion for Installation Inside a Control Box Power cable IO signal cable 200 mm 100 mm PLC CPU with Power 100 mm...
  • Page 33 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s EN: To well dissipate the heat produced by modules, please install the product in an open-type control box.
  • Page 34 A X - 5 S e r i e s O p e r a t i o n M a n u a l EN: Use special tools for folding, crimping, and welding during external wiring. Poor wiring may result in a short circuit, ...
  • Page 35  output. Refer to Chapter 5 of AX-5 Series Modules for the wiring of analog input/output modules. Four-wire and six-wire sensors for load cell modules. Refer to Chapter 7 of AX-5 Series Modules for the wiring of  load cell modules.
  • Page 36 A X - 5 S e r i e s O p e r a t i o n M a n u a l Communication cables Supported maximum length: EtherCAT: 100 m  Ethernet: 100 m  CANopen: 100 m ...
  • Page 37 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s PLC CPU Specification Functional Specifications AX-516...
  • Page 38 ARP, IP, TCP, UDP, Modbus TCP, EtherNet/IP, OPC UA, Communication Protocols PROFINET RT Number of ports Type Host WiFi (RealTek RTL8188) Type-A Bluetooth (RealTek RTL8761B), applicable to Delta Smart USB port Function Viewer APP Mass Storage Number of ports Type-C Type...
  • Page 39 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s AX-516 AX-532 AX-564...
  • Page 40 A X - 5 S e r i e s O p e r a t i o n M a n u a l AX-516 AX-532 AX-564 AX-564 Item EB0MB1T/P EB0MB1T/P EB0MB1T/P ELB0MB1T/P Maximum data Modbus TCP length per 100 words connection Maximum data...
  • Page 41 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s AX-516 AX-532 AX-564...
  • Page 42 A X - 5 S e r i e s O p e r a t i o n M a n u a l AX-516 AX-532 AX-564 AX-564 Item EB0MB1T/P EB0MB1T/P EB0MB1T/P ELB0MB1T/P Single phase: 4 groups (80 kHz) ...
  • Page 43 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s Electrical Specifications (Power and Weight Included) Model AX-516EB0MB1T/P...
  • Page 44 A X - 5 S e r i e s O p e r a t i o n M a n u a l Electrical specifications for the inputs on digital input/output module. The signals passing through the inputs ...
  • Page 45 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s Dimensions and Parts AX-516EB0MB1T/P, AX-532EB0MB1T/P, AX-564EB0MB1T/P, AX-564ELB0MB1T/P ...
  • Page 46  Mass Storage USB Type C communication The USB Type C port is capable of supplying power for downloading projects and updating firmware. But, it is insufficient to maintain the AX-5 Series PLC CPU USB Type C port in RUN mode.
  • Page 47 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s Arrangement of Terminals, LED Indicators and Wiring 2.3.4.1 Arrangement of PLC CPU Terminals AX-516EB0MB1T, AX-532EB0MB1T, AX-564EB0MB1T, AX-564ELB0MB1T...
  • Page 48 A X - 5 S e r i e s O p e r a t i o n M a n u a l 2.3.4.2 LED Indicators Name Color Status Description PLC CPU is in the STOP mode. Green Blinking PLC CPU is in the Debug mode.
  • Page 49 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s 2.3.4.3 Wiring and Loop Configuration NPN Wiring (use AX-5xxxxxMB1T as an example) ...
  • Page 50 A X - 5 S e r i e s O p e r a t i o n M a n u a l PNP Wiring (use AX-5xxxxxMB1P as an example)  2-wire (Sinking) 24 VDC 24 VDC 3-wire (Sinking) 24 VDC 24 VDC...
  • Page 51 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s Loop Configuration - NPN Wiring (use AX-5xxxxxMB1T as an example) ...
  • Page 52 A X - 5 S e r i e s O p e r a t i o n M a n u a l Loop Configuration - PNP Wiring (use AX-5xxxxxMB1P as an example)  AX-564EB0MB1P Encoder Phase A 3W/470Ω...
  • Page 53 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s This product shall be powered by a certified SELV/PELV power supply unit with operating temperature of ...
  • Page 54 A X - 5 S e r i e s O p e r a t i o n M a n u a l 2.3.4.4 Wirings of High-speed Counter and Pulse Output Things to note: When using an open collector (NPN/PNP) output point to connect to the high-speed input of the AX PLC CPU, it is recommended to add a (pull-up/pull-down) parallel resistor group with a rating of 3 W/470 Ω.
  • Page 55 C h a p t e r 2 S p e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o n s Wiring for NPN pulse output ...
  • Page 56 2.4.1.1 Design for Unit Power The AX-5 system power architecture allows the AX-5 series PLC CPU or coupler module to deliver up to 2A of current for the AX Bus, supplying power to the AX-5 series modules. You can refer to the "AX-5 Module Current Consumption Chart"...
  • Page 57 Ch ap te r 2 Sp eci fica tio ns an d Sys te m Co nfig ura tio ns Manual calculation example  For instance, the system includes AX-504AD10-0A*4, AX054DA01-0A*4, and AX-516AP11-0A*3. You can check the AX-5 Module Current Consumption Chart below to calculate and then conclude the maximum power consumption for the system is 4.2 A.
  • Page 58 A X - 5 S e r i e s O p e r a t i o n M a n u a l Checked by DIADesigner-AX  For instance, the system includes AX-504AD10-0A*4, AX054DA01-0A*4, and AX-516AP11-0A*3. You can use DIADesigner-AX to check the maximum power consumption for the system. Follow the steps below: Open Hardware Configuration page ...
  • Page 59  appear, reminding users to install a power supply module. When the AX-5 series PLC CPU fails to provide sufficient current for the connected modules to run.  When the power supply module fails to provide sufficient current for the connected modules to run.
  • Page 60 A X - 5 S e r i e s O p e r a t i o n M a n u a l 2.4.1.2 I/O Power Supply and Connector Module AX-5 series comes with various I/O power supply and connector modules, providing users with easier ways to design system power architecture and saving time and efforts for I/O wiring.
  • Page 61 Ch ap te r 2 Sp eci fica tio ns an d Sys te m Co nfig ura tio ns Example of 3-wire sensor with braid shield  Photoelectric sensors, etc. With NPN Output AX-510PS12-0A AX-5 Module AX-516AM10-0A AX-514PC40-0A Brown ( Red ) Blue ( Black ) Black ( White ) ‧‧‧...
  • Page 62 A X - 5 S e r i e s O p e r a t i o n M a n u a l I/O connector module (AX-516PC20-0A): can be used to incorporate more IOG pinouts.  AX-516PC20-0A I/O connector module (AX-516PC30-0A): can be used to incorporate more IOV and IOG pinouts. ...
  • Page 63 Chapter 3 Installing and Uninstalling DIADesigner-AX Table of Contents Installing and Uninstalling DIADesigner-AX ........3-2 3.1.1 Installing DIADesign-AX ..............3-3 3.1.2 Uninstalling DIADesigner-AX ............3-10 Getting Started and Setting up Communication ........ 3-11 3.2.1 Getting Started ................3-11 3.2.2 Setting up Communication ............. 3-12 3 - 1...
  • Page 64 A X - 5 S e r i e s O p e r a t i o n M a n u a l Installing and Uninstalling DIADesigner-AX System requirements  Project System Requirement Runtime System DIADesigner-AX V1.60 or later Operating System Windows 7 / 8.1 / 10 (32/64 bits) Intel Celeron 540 1.8 GHz (min.), Intel Core i5 M520 2.4 GHz (min.)
  • Page 65 C h a p t e r 3 I n s t a l l i n g a n d U n i n s t a l l i n g D I A D e s i g n e r - A X 3.1.1 Installing DIADesign-AX Before installation begins, make sure the computer used for installing DIADesigner-AX meets the minimum system...
  • Page 66 A X - 5 S e r i e s O p e r a t i o n M a n u a l Follow the steps below for installing DIADesigner-AX. Double-click DIAInstaller icon to see the latest version of DIADesigner-AX. Click Download.
  • Page 67 C h a p t e r 3 I n s t a l l i n g a n d U n i n s t a l l i n g D I A D e s i g n e r - A X An InstallShied Wizard shows up and starts installing.
  • Page 68 A X - 5 S e r i e s O p e r a t i o n M a n u a l After that, a window of Very important information shows up. Select “I have read the information.” after reading the information and then click Next.
  • Page 69 C h a p t e r 3 I n s t a l l i n g a n d U n i n s t a l l i n g D I A D e s i g n e r - A X Or click Change…...
  • Page 70 A X - 5 S e r i e s O p e r a t i o n M a n u a l The window of Ready to Install the Program appears as below and then click Install. It may take some time to install.
  • Page 71 C h a p t e r 3 I n s t a l l i n g a n d U n i n s t a l l i n g D I A D e s i g n e r - A X After installation, the window of InstallShield Wizard Completed appears.
  • Page 72 A X - 5 S e r i e s O p e r a t i o n M a n u a l 3.1.2 Uninstalling DIADesigner-AX Follow the steps below for uninstalling DIADesigner-AX. Double-click DIAInstaller icon to open and then click Uninstall. 2.
  • Page 73 Getting Started After DIADesigner-AX is successfully installed, click Start , you can find it under the folder of Delta Industrial Automation, and you can also find its short cut on the desktop. Double-click either one to start the software. You can open more than one DIADesigner-AX software to achieve multitasking.
  • Page 74 Gateway. After that, the system starts Gateway automatically whenever you turn your computer on. And its icon will appear on the taskbar. If not, go to the execution file CODESYS Gateway V3 under the folder of Delta Industrial Automation or GatewaySysTray.exe in the Program Files folder to start the Gateway manually.
  • Page 75 C h a p t e r 3 I n s t a l l i n g a n d U n i n s t a l l i n g D I A D e s i g n e r - A X You can click the Gateway icon on the taskbar to see the Gateway status.
  • Page 76 A X - 5 S e r i e s O p e r a t i o n M a n u a l If you need to discontinue the execution of GatewaySysTray completely, you can click Exit Gateway Control and the icon will disappear on the taskbar.
  • Page 77 C h a p t e r 3 I n s t a l l i n g a n d U n i n s t a l l i n g D I A D e s i g n e r - A X You can configure the Local Gateway.
  • Page 78 A X - 5 S e r i e s O p e r a t i o n M a n u a l You can find two interfaces under Local Gateway, including UDP interface and TCP interface. You can also create a different port.
  • Page 79 C h a p t e r 3 I n s t a l l i n g a n d U n i n s t a l l i n g D I A D e s i g n e r - A X , select Add You can add configuration settings under COM Port.
  • Page 80 A X - 5 S e r i e s O p e r a t i o n M a n u a l If the connection is established successfully, you can find that the status light is green and the detailed device information under the device image.
  • Page 81 Chapter 4 Basic Operation Table of Contents Introduction on DIADesigner-AX ............4-2 Setting Items on the Device Page ............4-5 Data Type and Variables ..............4-29 Task ..................... 4-42...
  • Page 82 A X - 5 S e r i e s O p e r a t i o n M a n u a l Introduction on DIADesigner-AX DIADesigner-AX is an open platform for PLC development system and industrial automation. The adaptable DIADesigner- AX provides an easy way to create professional engineering of IEC 61131-3 automation projects.
  • Page 83 And a Standard Project dialog appears. You can select the device and the programming language from the drop-down list. Click OK, the system generates a cyclic task with a default PLC_PRG. Note: It is required to use DIADesigner-AX V1.6 or later for AX-5 Series operation. You can select a POU programming language from the drop-down list.
  • Page 84 A X - 5 S e r i e s O p e r a t i o n M a n u a l After a new project is successfully created, you can see a project management area in the left side of the window. All the options are listed in nodes.
  • Page 85 C h a p t e r 4 B a s i c O p e r a t i o n Setting Items on the Device Page This section introduces all the setting items on the Device Page. CPU Parameter Settings 4.2.1.1 Communication Settings On the Communication Settings page, you can define the communication method for DIADesigner-AX and controller.
  • Page 86 A X - 5 S e r i e s O p e r a t i o n M a n u a l  Status of the Connection The dots under the images of gateway and controller indicate the connection status. Red: Not be able to establish a connection Green: A connection is established.
  • Page 87 C h a p t e r 4 B a s i c O p e r a t i o n Description 2. Rename Active Device: Click this setting item to open the Change Device Name page. Wink Current Device: Devices that support this function illuminate a flashing signal. 3.
  • Page 88 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.2.1.2 Applications Here you can check and manage the applications on the PLC. Button Description Remove: Deletes the application selected in the list.
  • Page 89 C h a p t e r 4 B a s i c O p e r a t i o n 4.2.1.3 Backup and Restore You can backup and restore the application-specific file on the PLC by saving and reading a zip archive. Description Click Backup tab to see the followings Read Backup Information from Device: Use this function to search for application-...
  • Page 90 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.2.1.4 Files You can transfer files between the computer and the PLC on this page through DIADesigner-AX. Item Description Path in the file system of the computer.
  • Page 91 C h a p t e r 4 B a s i c O p e r a t i o n Item Description : Default settings Offline logging : The PLC also records actions that are not related to the connection with the controller. However, this is currently available only for the safety version of CODESYS.
  • Page 92 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.2.1.6 PLC Settings You can make the basic settings for the configuration of the PLC here, for example the handling of inputs and outputs and the bus cycle task.
  • Page 93 C h a p t e r 4 B a s i c O p e r a t i o n ➂ Bus Cycle Options Item Description Task that controls the bus cycle. By default, the task defined by the device Bus cycle task description is entered.
  • Page 94 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.2.1.8 System Setting Here you can set up the system settings for the AX-5 Series PLC. Before setting up, make sure that DIADesigner-AX is successfully connected to AX-5 Series PLC. Refer to section 4.2.1.1 for establishing the connection between DIADesigner-AX and AX-5 Series PLC.
  • Page 95 C h a p t e r 4 B a s i c O p e r a t i o n ➂ Network Item Description Apply IP settings while The IP address setting is effective once the parameters are downloaded. download Enable Gateway and DNS You can input your own IP address, Subnet mask, Default gateway and obtain...
  • Page 96 A X - 5 S e r i e s O p e r a t i o n M a n u a l Toolbar of the tab  Item Description 1. Switches on and off the synchronization between the editor and the user management on the device.
  • Page 97 C h a p t e r 4 B a s i c O p e r a t i o n Account management setting images:  Toolbar of the tab  Item Description 1. Switches on and off the synchronization between the editor and the user management on the device.
  • Page 98 A X - 5 S e r i e s O p e r a t i o n M a n u a l Item Description Export to disk Click this button and then to save the user management configuration as an XML file. Device user Username of the user currently logged in on the device Users...
  • Page 99 C h a p t e r 4 B a s i c O p e r a t i o n Note 2: The Import User setting page After selected the user from the list, click OK to import. Note 3: The Add Group setting page Type in the new group name and select the to-be-added group members for this new group and then click OK.
  • Page 100  Here you can define the device access rights of device users to objects on AX-5 Series PLC. As in the project user management, users must be members of at least one user group and only user groups can be granted certain access rights.
  • Page 101 AX-5 Series PLC. • Runtime objects ‣ /: In these objects, all objects are managed that have online access in the AX-5 Series PLC and therefore have to control the access rights. A description of the objects is located in the table. Overview of the objects Object groups and objects (indented) Example: Device with child nodes Logger, PlcLogic, Settings, UserManagement.
  • Page 102 A X - 5 S e r i e s O p e r a t i o n M a n u a l • No symbol: Multiple objects are selected that have different access rights. Change the permission by clicking the symbol. Overview ...
  • Page 103 PLC shell commands also be evaluated. RemoteConnections  Additional external connections to the AX-5 Series PLC can be configured below this node. Currently, access to the OPC UA server can be configured here. 4 - 2 3...
  • Page 104 File system objects > /  All folders from the execution path of the AX-5 Series PLC are inserted below the “/” file system object. This allows you to grant specific rights to each folder of the file system. 4 - 2 4...
  • Page 105  Here you can define the access rights of different user groups to the individual symbol sets available on the AX-5 Series PLC. Before that you need to enable the Symbol set under Symbol Configuration and then download the project to the controller.
  • Page 106 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.2.1.10 System Parameters Here you can set up the various parameters for the AX-5 Series PLC. Note that settings on this page do NOT support on-line editing.
  • Page 107 C h a p t e r 4 B a s i c O p e r a t i o n 4.2.1.11 Task Deployment Here displays a table of inputs and outputs and their assignments to the defined tasks and bus cycle task. You can search for the relevant information here.
  • Page 108 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.2.1.12 Status Here you can find the device status information, for example ‘Running’ or ‘Stopped,’ and specific diagnostic messages from the respective device, also information about the card used and the internal bus system.
  • Page 109 C h a p t e r 4 B a s i c O p e r a t i o n Data Type and Variables Data Type Data Type Minimum Value Maximum Value Data Width BOOL FALSE TRUE 1 bit BYTE 8 bit WORD...
  • Page 110 A X - 5 S e r i e s O p e r a t i o n M a n u a l Variables Rules for identifiers of variables:  No spaces or special characters  Not case sensitive (For example, Var0 and VAR0 are seen as the same variable) ...
  • Page 111 4.3.2.2 Address Assignments In AX-5 Series, there are three ranges in the memory area, including I (input memory range), Q (output memory range) and M (flag memory range). You can use specific character strings to express memory position and size. For the M flag memory range in AX-5 Series PLC, you cannot manually use the bit operation when in online mode.
  • Page 112 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.3.2.3 Variables Global Variables • If a variable that is declared in the POU, it is a local variable and it can only be used in the same POU. If a variable that is declared in the global variable list, it is a global variable and it can used in any POU.
  • Page 113 C h a p t e r 4 B a s i c O p e r a t i o n 4 - 3 3...
  • Page 114 A X - 5 S e r i e s O p e r a t i o n M a n u a l Constant Variables • You can declare a variable as a constant variable. Constant variables can be accessed as read-only and without assigning an initialization value.
  • Page 115 C h a p t e r 4 B a s i c O p e r a t i o n Persistent Variable List: 4 - 3 5...
  • Page 116 A X - 5 S e r i e s O p e r a t i o n M a n u a l If you need to declare a local variable as persistent, you need to add the variable instance path in the persistent variable list.
  • Page 117 C h a p t e r 4 B a s i c O p e r a t i o n 4.3.2.4 User-defined Data Types You can create your own data type, DUT (Data Type Unit) or UDT (User-defined Data Type), by clicking ADD Object and selecting DUT.
  • Page 118 A X - 5 S e r i e s O p e r a t i o n M a n u a l Applications: Enumeration： • An enumeration is used to map a set of names to numeric values. Enumerated data types help make the code more self- documenting and make program listing more readable.
  • Page 119 C h a p t e r 4 B a s i c O p e r a t i o n Alias： • Alias is a scalar data type for a variable that can save a single value and self-define the data type. Example: TYPE <Alias Name>...
  • Page 120 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.3.2.5 Timing for the Variable to be Cleared to Zero For different types of variables, the timing to clear the variables to zero is various. Find the various timings below for the variables to be cleared to zero under various occasions.
  • Page 121 C h a p t e r 4 B a s i c O p e r a t i o n 4.3.2.6 Timing for the Default Value to be Effective Retain Mode：Original mode • Action VAR Retain VAR Retain Persistent Online Change ●...
  • Page 122 A X - 5 S e r i e s O p e r a t i o n M a n u a l Task Task Configuration You define one or more tasks for controlling and executing the program blocks (POUs) in the PLC. 0You define a task with a name, a priority, and a type, which determines which condition triggers the start of the task.
  • Page 123 C h a p t e r 4 B a s i c O p e r a t i o n 4.4.1.2 Bus Cycle Task If the task condition is satisfied, then the system processes the task. Set the priority level from 0 to 31. If the set number is closer to 0, it has higher priority. The system processes the task in the order of Task Group in Task Configuration.
  • Page 124 A X - 5 S e r i e s O p e r a t i o n M a n u a l 4.4.1.3 Watchdog If the task exceeds the time set for the watchdog, then the task is halted with an error status. •...
  • Page 125 C h a p t e r 4 B a s i c O p e r a t i o n 4.4.1.4 Motion Instructions for Types of Tasks Here is the table of motion instructions for different task types. “V” means the motion instruction can be executed for the task type.
  • Page 126 A X - 5 S e r i e s O p e r a t i o n M a n u a l Task Type Classification Instruction Name Cyclic Freewheeling Bus Cycle EtherCAT MC_Reset MC_ReadStatus MC_ReadAxisError MC_CamTableSelect MC_TouchProbe MC_AbortTrigger MC_DigitalCamSwitch DMC_GroupEnable...
  • Page 127 Chapter 5 Hardware Configuration Table of Contents Environment of Hardware Configuration ........5-2 Adding a Module ................5-5 Removing a Module ................ 5-7 Using Copy and Paste to Add a Module ........... 5-9 5.4.1 Using Copy to Add a Module ............. 5-9 5.4.2 Using Paste to Add a Module............
  • Page 128 A X - 5 S e r i e s O p e r a t i o n M a n u a l Hardware Configuration is the tools in DIADesign-AX for hardware configuration. Its functions include setting parameters for CPU and modules. This chapter will introduce the abovementioned functions. Environment of Hardware Configuration Double-click on the Device section to open the Hardware Configuration (Device)
  • Page 129 C h a p t e r 5 H a r d w a r e C o n f i g u r a t i o n Click on the upper-left corner to see the current configurations. For example, the width of the total connected module, the current consumption and power current output.
  • Page 130 A X - 5 S e r i e s O p e r a t i o n M a n u a l on the upper-right corner to rearrange the device image for better viewing experience and easier operation. Enter a key word in the Search Toolbox on the right-side window and press “Enter”...
  • Page 131 PLC directly. Double-click or drag and drop the extension module that you’d like to add from the Product List. Newly added extension modules will appear on the right-side of the AX-5 Series PLC. And the device names will also show up on the left-side under AX5_Local_IO_BUS.
  • Page 132 Method 2  If the AX-5 Series PLC and its connected extension module are powered on and the gateway is correctly set, you can use the icon to scan and add the modules in. Newly added extension modules will appear on the right-side of the AX-5 Series PLC.
  • Page 133 C h a p t e r 5 H a r d w a r e C o n f i g u r a t i o n Removing a Module You cannot remove a CPU. You can only delete extension modules. Method 1 ...
  • Page 134 A X - 5 S e r i e s O p e r a t i o n M a n u a l Method 2  Right-click the device name under AX5_Local_IO_BUS that you’d like to remove to open the context menu and click the option Delete or use the Delete Button on your keyboard to remove the module.
  • Page 135 C h a p t e r 5 H a r d w a r e C o n f i g u r a t i o n Using Copy and Paste to Add a Module You cannot use copy and paste on a CPU. You can only use copy and paste on extension modules. 5.4.1 Using Copy to Add a Module Method 1 ...
  • Page 136 A X - 5 S e r i e s O p e r a t i o n M a n u a l 5.4.2 Using Paste to Add a Module Method 1  You can place the module between modules. Right-click where you’d like to paste the module to open the context menu and click the option Paste to place the module on the left of the module you had clicked.
  • Page 137 C h a p t e r 5 H a r d w a r e C o n f i g u r a t i o n Method 2  You can place the module between modules. Right-click where you’d like to paste the module under AX5_Local_IO_BUS to open the context menu and click the option Paste to place the module above the module you had clicked.
  • Page 138 A X - 5 S e r i e s O p e r a t i o n M a n u a l Using Cut and Paste to Remove or Add a Module You cannot use cut and paste on a CPU. You can only use cut and paste on extension modules. 5.5.1 Using Cut to Remove a Module Method 1 ...
  • Page 139 C h a p t e r 5 H a r d w a r e C o n f i g u r a t i o n 5.5.2 Using Paste to Add a Module Method 1  You can place the module between modules. Right-click where you’d like to paste the module to open the context menu and click the option Paste to place the module on the left of the module you had clicked.
  • Page 140 A X - 5 S e r i e s O p e r a t i o n M a n u a l Method 2  You can place the module between modules. Right-click where you’d like to paste the module under AX5_Local_IO_BUS to open the context menu and click the option Paste to place the module above the module you had clicked.
  • Page 141 Chapter 6 Network Configuration Table of Contents Network Configuration ..............6-2 6.1.1 Introduction ................. 6-2 6.1.2 Basic Knowledge ................6-3 6.1.3 Creating a Network Topology ............6-5 6 - 1...
  • Page 142 A X - 5 S e r i e s O p e r a t i o n M a n u a l Network Configuration DIADesigner-AX provides a Network Configuration tool for users to configure the network in a project. Detailed network setting information will be covered in the following sections.
  • Page 143 C h a p t e r 6 N e t w o r k C o n f i g u r a t i o n 6.1.2 Basic Knowledge Before creating networks, you need to have some basic knowledge. Here we provide some basic knowledge in the following sections for you.
  • Page 144 A X - 5 S e r i e s O p e r a t i o n M a n u a l  Modbus TCP or EtherNETIP The blue line indicates the Modbus TCP or EtherNetIP communication. Double-click this line to open its setting page to edit IP addresses.
  • Page 145 C h a p t e r 6 N e t w o r k C o n f i g u r a t i o n 6.1.3 Creating a Network Topology 6.1.3.1 Station Nodes When you open the Network Configuration for the first time, the system creates a graphical representation automatically. You can use the following methods to add devices including PLCs, servo motors, and drives in the network topology.
  • Page 146 A X - 5 S e r i e s O p e r a t i o n M a n u a l Method 2  Right-click the project name on the Device Tree to bring out the context menu. Double-click Add Device on the context menu to open a setting page for adding devices.
  • Page 147 C h a p t e r 6 N e t w o r k C o n f i g u r a t i o n Method 3  Right-click the device to bring out the context menu and click Network Scan or click the icon for Network Scan to automatically scan and then add the connected configured devices and network in the project.
  • Page 148 A X - 5 S e r i e s O p e r a t i o n M a n u a l 6.1.3.2 Creating a Connection After creating the station nodes, you can start to crate connections. The network types include Modbus, Ethernet, and EtherCAT.
  • Page 149 C h a p t e r 6 N e t w o r k C o n f i g u r a t i o n Method 2  Hold the communication port and drag it to the unused dotted line to create a network connection that is the same as the selected network communication type and then a new gray unused dotted line will also be created.
  • Page 150 A X - 5 S e r i e s O p e r a t i o n M a n u a l MEMO 6 - 1 0...
  • Page 151 12 7 Chapter 7 Motion Control Setup & Operation Table of Contents Introduction on Motion Control Instructions ........7-3 7.1.1 Motion Control Instructions ..............7-3 7.1.2 Application Notes on Motion Control Instructions ........7-3 7.1.3 Categories of Motion Control Instructions..........7-4 Creating Motion Control Project ............
  • Page 152 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.1 System Structure ................7-73 7.7.2 Single-axis Control ................7-73 7.7.3 Velocity Control ................7-92 7.7.4 Torque control ...................
  • Page 153 The motion control (MC) instructions are developed based on the specifications of PLCopen* motion control function blocks. This section gives an overview of the motion control instructions for both PLCopen-based function blocks and Delta- defined function blocks. PLCopen defines the program and function block interfaces so as to achieve a standardized motion control programming environment for the languages specified in IEC61131-3.
  • Page 154 “SMC”: Motion instructions “MC_”: PLCopen motion Velocity control on single axis control instructions Motion Torque control on single axis Single-axis motion “DMC_”: Delta motion control control instructions instructions Synchronized control on single “MC_XXX_DML”: Delta motion axis control instructions, used with...
  • Page 155 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Creating Motion Control Project 7.2.1 Process Flowchart...
  • Page 156 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.2.2 Process for Creating a Project ● Create a new project Double-click on the DIADesign-AX icon to open the software. ...
  • Page 157 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Select AX-564EB0MB1T from the drop-down list of Device.
  • Page 158 “Network Configuration Editor” window will pop up after double-clicking. Find the target slave devices from  “Product List Editor” on the right. Choose “Servo Device”  “ASD”  “Delta ASD-A2-E EtherCAT(CoE) Drive SM” from the product list.  Then, the device will be automatically added to “Network Configuration Editor” after a double-click.
  • Page 159 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Click and hold the left mouse button on the yellow box of slave device and drag it towards the EtherCAT main ...
  • Page 160 A X - 5 S e r i e s O p e r a t i o n M a n u a l EtherCAT distributed clock can be configured within master device settings.  Double-click on the slave device to continue EtherCAT slave device settings. ...
  • Page 161 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Afterwards, you can start writing programs.
  • Page 162 A X - 5 S e r i e s O p e r a t i o n M a n u a l Commissioning 7.3.1 Procedure for Commissioning The chart below shows the steps to build a commissioning process: 7.3.2 Example of Axis Parameter Settings Before using software to perform commissioning, axis parameters must be set first.
  • Page 163 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Axis configuration screen ...
  • Page 164 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.3.3 Perform Axes Commissioning Select “SM_Drive_ETC_Delta_ASDA_A2” and double-click on it.  Click on the “Online Config Mode” icon. ...
  • Page 165 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Open “Commissioning”...
  • Page 166 A X - 5 S e r i e s O p e r a t i o n M a n u a l  Information of axis commands  Name Function Position[u] Command position and actual position Velocity[u/s] Command velocity and actual velocity Acceleration[u/s Command acceleration and actual acceleration...
  • Page 167 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Motion Control Device 7.4.1 Overview...
  • Page 168 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.4.2.1 About Axis Parameters After a servo axis is created, the corresponding axis parameters will be generated as well. The following table details the relevant description.
  • Page 169 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
  • Page 170 A X - 5 S e r i e s O p e r a t i o n M a n u a l Name Function (1) Command Pulse per motor rotation The command pulse number for per motor rotation (2) Gear ratio numerator Numerator of gear ratio (3) Gear ratio denominator...
  • Page 171 Set the homing speed during search for the home switch. Homing Speed during search for z phase pulse Set the homing speed during search for Z phase pulse. Homing Acceleration Set the acceleration rate of homing. Positioning Axis  Positioning axis – Delta servos  7 - 2 1...
  • Page 172 A X - 5 S e r i e s O p e r a t i o n M a n u a l Positioning axis – Delta inverters   Axis Type and Limits  Name Function Linear Axis／Rotary Axis Set to be linear axis or rotary axis.
  • Page 173 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n  Velocity Ramp Type  For Delta servos Name Function...
  • Page 174 A X - 5 S e r i e s O p e r a t i o n M a n u a l Name Function (3) Gear ratio denominator Denominator of gear ratio (4) Pitch The distance between screw threads Round Table ...
  • Page 175 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n  Homing Setting  For Delta servos For Delta inverters (the following series supported: C2000Plus, CH2000, MH300, DDF V1.0.10 or later) Name Function Homing Mode Configure homing mode setting.
  • Page 176 A X - 5 S e r i e s O p e r a t i o n M a n u a l Motor Settings – Delta inverters  Name Function Motor Selection Select a motor type. Pole Number Set up pole number.
  • Page 177 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.4.2.2 Axis Application in Program After a servo axis is newly added in the project, the name of the servo axis will be generated automatically (you are allowed to change the name) and input to the function block.
  • Page 178 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.4.3 Procedure for Single-axis Configuration The procedure for axis settings is shown as follows. For more details of creating new projects, please ...
  • Page 179 Note 1: *1 Delta ASDA-A2-E EtherCAT(CoE) Drive_SM is a synchronous axis. If a positioning axis is what you need, select Delta ASDA-A2-E EtherCAT(CoE) Drive_DML instead. After that, the operational procedures are the same for the synchronous axis and positioning axis.
  • Page 180 A X - 5 S e r i e s O p e r a t i o n M a n u a l Switch to “Process Data” page to configure mapping groups of PDO. The default setting for ASDA-A2 is the ...
  • Page 181 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n After finishing the settings of axis communication, double-click on “SM_Drive_ETC_Delta_ASDA_A2”.
  • Page 182 A X - 5 S e r i e s O p e r a t i o n M a n u a l Setup Software Limits for linear axis. Click Activated to start software limit that contains negative limits ...
  • Page 183 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n To configure the Ethernet communication cycle time, click “EtherCAT_Master_SoftMotion,”...
  • Page 184 A X - 5 S e r i e s O p e r a t i o n M a n u a l A green light icon will be shown if the connection is successful. Then click “Login.” ...
  • Page 185 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.4.4 Axis Group Settings Axis group movement need be applied for the linear interpolation and circular interpolation with multiple axes.
  • Page 186 A X - 5 S e r i e s O p e r a t i o n M a n u a l  Kinematic Name Function Axis X X axis in axis group Axis Y Y axis in axis group Axis Z Z axis in axis group Axis A...
  • Page 187 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Note 2: There are two Ramp Types: Trapezoid and S-curve types, which are shown in the following figures.
  • Page 188 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.4.5 Procedure for Axis Group Configuration To use the axis group movement function, you must name the axis group and set the corresponding ...
  • Page 189 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n After finishing creating axes, select “Application” and right-click “Add Object”  “Delta Axis Group” Set the name for the axis group on the “Add Delta Axis Group” page, and then click “Add.” 7 - 3 9...
  • Page 190 A X - 5 S e r i e s O p e r a t i o n M a n u a l Afterwards, “DMC_Axis_Group” will be shown on the Project tree. Click “DeltaAxisGroup,” and then enter the names of two virtual axes into the fields of “Axis X” and “Axis Y.”...
  • Page 191 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n After you enter the names for the axes, the tasks in the Bus Task will be set automatically according to the tasks followed by axes.
  • Page 192 A X - 5 S e r i e s O p e r a t i o n M a n u a l After the program writing is completed, click the Compile button to confirm the validity. After compilation, click Online Monitoring button to download the program. 7 - 4 2...
  • Page 193 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Motion Axis Variables 7.5.1 Variables for Single Axis...
  • Page 194 A X - 5 S e r i e s O p e r a t i o n M a n u a l Default Number Name Data type Description value sin^2  TYPE Quadratic  Quadratic (smooth)  1100/1 fSetPosition LREAL...
  • Page 195 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Positioning Axis (Axis_REF_DML) ...
  • Page 196 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.5.2 Variables for Axis Group After you have created an axis group in the project tree in DIADesigner-AX, the corresponding axis variables will be generated automatically, which are described in the following table.
  • Page 197 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Setting Value Name Data Type...
  • Page 198 A X - 5 S e r i e s O p e r a t i o n M a n u a l Setting Value Name Data Type Function (Default Value) Set the proportionality of the maximum deceleration of the axis 0 to 1 lrDecelerationWarning group for the warning to start.
  • Page 199 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Motion Control Programming 7.6.1 Motion Control Program...
  • Page 200 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.6.1.2 POU in DIADesigner-AX All POUs created by you are listed in the project management area with programs and function blocks managed separately.
  • Page 201 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Type a POU name in Name field.
  • Page 202 A X - 5 S e r i e s O p e r a t i o n M a n u a l Select the created POU and click “OK.”  Choose the POU under EtherCAT_Task item to edit the program. ...
  • Page 203 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.6.1.4 PDO Mapping Before using motion control instructions, the communication of PDO (Process Data Objects) mapping between the software DIADesigner-AX and AX motion CPU must be set up first.
  • Page 204 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.6.2 Axis State Transitions This section introduces single axis state transitions and multi-axis state transitions in axis groups for multiple function block use.
  • Page 205 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n State Meaning Disabled...
  • Page 206 A X - 5 S e r i e s O p e r a t i o n M a n u a l State Meaning Disabled Axis during servo OFF. Standstill Axis during servo ON. The state would be Discrete Motion while single-axis motion instructions are being Discrete Motion executed.
  • Page 207 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Interaction between single-axis state and axis-group state ...
  • Page 208 DMC_ Delta self-defined function blocks* *Note: Delta self-defined function blocks (DMC) include motion control type and other administrative/ non- administrative type applicable for AX series motion CPU. General pins for motion control function blocks include input, output and in-out. The section explains the meanings and behaviors of these pins.
  • Page 209 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n A motion control function block usually consists of Execute or Enable input pin and is used to either execute or enable a motion control function block.
  • Page 210 A X - 5 S e r i e s O p e r a t i o n M a n u a l Characteristic of Busy output When a function block contains Execute input and uses Buy output to indicate incomplete execution, ...
  • Page 211 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Situation 1: The execution of a motion control function block is normal.
  • Page 212 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.6.3.5 Synchronous Execution Behavior of Motion Instructions SoftMotion V4.10.0.0 * or later with SM3_Basic V4.10.0.0 or later supports Buffer Mode function of single-axis motion instructions, and DL-MotionControl V1.2.0.0 or later supports SoftMotion V4.10.0.0.
  • Page 213 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Buffermode=mcAborting ...
  • Page 214 A X - 5 S e r i e s O p e r a t i o n M a n u a l Buffermode=mcBlendingLow  The velocity of the current instruction is slower 2. The velocity of the current instruction is greater T he buffered i nstruction starts to control T he buffered the ax is when c urrent ins truction exec uti on...
  • Page 215 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n The instruction transferred and the present instruction are in opposite directions.
  • Page 216 A X - 5 S e r i e s O p e r a t i o n M a n u a l Buffermode=mcBlendingHigh  The velocity of current instruction is slower 2. The velocity of current instruction is greater T he buffer ed ins truction starts to control the ax T he buffered ins truction starts to control th T he buffered...
  • Page 217 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.6.4 Position This section describes the position processes of motion control programming.
  • Page 218 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.6.5 CAM Tables and Framework This section introduces electronic cam (E-CAM) operation and how to use DIADesigner-AX to generate a CAM table, as well as E-CAM applications.
  • Page 219 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ●...
  • Page 220 A X - 5 S e r i e s O p e r a t i o n M a n u a l (3) After clicking “Add,” CAM icon is shown on the left item box. Click “Cam Table” on the CAM page. (5) Add or delete CAM data on the CAM Table screen Click to add new CAM data...
  • Page 221 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n (6) You can configur multiple tappets on “Tappets”...
  • Page 222 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7 - 7 2...
  • Page 223 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Motion Control Functions 7.7.1 System Structure...
  • Page 224 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.2.2 Profile Position Mode After the servo drive receives position demands from the master device, the drive controls the motor to reach the target position.
  • Page 225 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Rotary axes setting ...
  • Page 226 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.2.4 Stop Method The stopping state includes using motion instructions or enabled limit input as well as error stop input to stop axis operation.
  • Page 227 CommandAborted Hardware limit: Since the EtherCAT servo wires carry the hardware limit signals, the stop method for hardware limit may be different among vendors and brands. The following description takes Delta ASDA-A2-E servo drive as example: Use MC_Jog function block to perform the rotation of the servo axis in the positive direction. Once the hardware limit is reached during the rotation, ASDA-A2-E servo drive will be stopped and report error messages via communication.
  • Page 228 A X - 5 S e r i e s O p e r a t i o n M a n u a l Velocity Position Hardware limits MC_Jog JogForward Busy CommandAborted After using MC_Reset to clear errors for reaching the software/ hardware limit, the system synchronizes the command position based on the feedback position value automatically, and then the servo moves away from the direction of limit to operate properly again.
  • Page 229 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n The following diagram shows the execution steps of instructions for electronic gears: ...
  • Page 230 A X - 5 S e r i e s O p e r a t i o n M a n u a l When MC_GearIn is enabled, the slave starts to engage with the master axis and the slave velocity is twice the speed of the master velocity (RatioNumerator : RatioDenominator = 2:1).
  • Page 231 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
  • Page 232 A X - 5 S e r i e s O p e r a t i o n M a n u a l Initial setting  Create E-CAM data The following two methods can create E-CAM curve data: Method 1: Master and slave positions are determined based on standard functions.
  • Page 233 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Master as external pulse counter The sources of E-CAM master include real and virtual axes as well as the counter.
  • Page 234 A X - 5 S e r i e s O p e r a t i o n M a n u a l • Absolute mode (StartMode=0): When E-CAM synchronization starts, the CAM calculation and current slave position is irrelevant. When current slave position is different from the starting position that is calculated, then Jump is generated.
  • Page 235 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Offset and scaling (MasterOffset/MasterScaling/SlaveOffset/Slavescaling) Since the CAM mechanism between master and slave is pre-planned, when executing CAM, you can adopt Offset and Scaling parameters to pre-plane position offset or scaling.
  • Page 236 A X - 5 S e r i e s O p e r a t i o n M a n u a l When position offset or scaling is not in default value, the following diagrams show the effects of the corresponding relationship between master and slave actual positions during CAM execution: With master and slave offsets as 0, the effects from scaling of master and slave for actual CAM execution Situations:...
  • Page 237 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Situation 5: When master scaling ratio is 0.5, slave scaling ratio is 1 and offset for both axes is 0, the master position that corresponds to the slave position is half the amount of pre-planned measurement.
  • Page 238 A X - 5 S e r i e s O p e r a t i o n M a n u a l Features of CAM table  Direct observation on the changes of CAM curves corresponds to the slave motion range, velocity, acceleration, and jerk at any time.
  • Page 239 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
  • Page 240 A X - 5 S e r i e s O p e r a t i o n M a n u a l Steps on using E-CAM:  CAM table configuration: setup master range, slave range, create starting point, ending point and other critical points as well as curve type adjustments.
  • Page 241 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Timing diagram for switching of Cam table.
  • Page 242 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.3 Velocity Control There are three kinds of motion control modes, the Cyclic Synchronous Position (CSP), the Cyclic Synchronous Velocity mode (CSV), and Profile Velocity mode (PV).
  • Page 243 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.3.2 CSV Mode The CSV mode is the cyclic synchronous velocity mode (CSV).
  • Page 244 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.4 Torque control Torque control can be categorized into Cyclic Synchronous Torque mode (CST) and Profile Torque mode (PT). ...
  • Page 245 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.5 Common Functions for Single-axis Control The common functions for single-axis control are described in the following section.
  • Page 246 A X - 5 S e r i e s O p e r a t i o n M a n u a l Position lag  Setting Value Meaning Deactivated Position lag not checked Disable drive When position lag exceeds the limit, the axis is in servo off. Position lag supervision Do quick stop...
  • Page 247 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.5.2 Velocity Command Types of velocity...
  • Page 248 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.5.3 Acceleration and Deceleration Command Types of acceleration  The following two types of acceleration are used in the MC function blocks. Position type Meaning Acceleration...
  • Page 249 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.5.4 Jerk Command The jerk assigns the changes in acceleration or deceleration rate.
  • Page 250 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.5.5 Axis Direction The following situation requires specified operation directions: When the input value of Velocity is absolute for a constant-velocity motion, specifying the direction by ...
  • Page 251 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n (2) Execute MC_MoveAbsolute (Position = 180, Velocity = Acceleration = Deceleration = 1000, Direction = shortest) When MC_MoveAbsolute.Execute triggers, the system determines the shortest way to reach position 180 is to...
  • Page 252 A X - 5 S e r i e s O p e r a t i o n M a n u a l TransitionMode: For the below situation, set the mode to None or Overlap, and then choose buffered. ...
  • Page 253 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n TransitionMode: For the below situation, set the mode to SingleAxis, and then choose Blending.
  • Page 254 A X - 5 S e r i e s O p e r a t i o n M a n u a l Concept of follower axes:  Follower axes A, B, C move in a proportional and synchronized motion as axes X, Y, Z are moving. The axis group moves to position (30, 40, 0) with the start point of 0, and the combined moving distance is 50 while follower axes move to position (100, 200, 300).
  • Page 255 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.6.3 Group Stop Command There’re two different ways to stop an axis group motion: Programming stop...
  • Page 256 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.7 High-speed IO The chapter contains information regarding CPU with IOs for configuration and parameter settings. 7.7.7.1 IO Configurations DIO: Set functions including interrupt, filter and polarity.
  • Page 257 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.7.2 DIO Settings The section describes setting functions including interrupt, filter and polarity of IOs in DIO device.
  • Page 258 A X - 5 S e r i e s O p e r a t i o n M a n u a l IO interrupt mode setting  After activating the interrupt function on DIO setting page, click on “Task” to proceed. ...
  • Page 259  The setting value for hardware filter time is smaller than IN input duty-on time as shown below: For AX-5 Series PLC CPU: The input range for hardawre filter is from 1 to 50,000,000, unit as 0.1 μs. The relation between filter frequency and filter time: ...
  • Page 260 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.7.3 Pulse Encoder Settings AX-5 Series PLC CPU provides following connecting interfaces for the pulse encoder ...
  • Page 261 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Enable hign-speed counter function ...
  • Page 262 A X - 5 S e r i e s O p e r a t i o n M a n u a l Configure Counter-related settings on Counter Configuration page. Descriptions are as follows.   Counter Mode Pulse Counter Mode Description Forward rotation pulse train and reverse rotation pulse train...
  • Page 263 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
  • Page 264 A X - 5 S e r i e s O p e r a t i o n M a n u a l Name Function (1) Command Pulse per motor rotation The command pulse number for per motor rotation (2) Gear ratio numerator Numerator of gear ratio (3) Gear ratio denominator...
  • Page 265 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Use Counter in program ...
  • Page 266 A X - 5 S e r i e s O p e r a t i o n M a n u a l High-speed timer (Tmr)  Enable high-speed timer function  When selecting Timer function in Hardware IO Configuration, the high-speed timer in AX series is set ...
  • Page 267 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Use Timer in program ...
  • Page 268 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.7.7.4 Capture/Compare Function Settings This section introduces the Capture and Compare function blocks with built-in high-speed counters. A maximum of 8 groups of high-speed captures and compares can be supported by AX series motion controllers.
  • Page 269 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Then choose an external trigger input from the drop-down list after selecting one Capture.
  • Page 270 A X - 5 S e r i e s O p e r a t i o n M a n u a l The column marked  on the IEC Objects tab is the configuration function of each variable. For the ...
  • Page 271 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Enable Compare function ...
  • Page 272 A X - 5 S e r i e s O p e r a t i o n M a n u a l Use Compare in program  The Compare variables can be used for MC function blocks in POU. Click “IEC Objects”...
  • Page 273 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.7.5 Pulse Output Function Settings This section introduces pulse output function blocks with built-in IO shown as follows. For AX-5 Series PLC CPU, a maximum of 2 groups of pulse-output units are for option. Activate axis function ...
  • Page 274 A X - 5 S e r i e s O p e r a t i o n M a n u a l Click “PoAxis Configuration” after activating Axis.  Click to enter Axis 0 tab on PoAxis Configuration page. ...
  • Page 275 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Axis-related settings can be configured on Pulse Output Setting page, which is described in the ...
  • Page 276 A X - 5 S e r i e s O p e r a t i o n M a n u a l ② Axis Type and Limits Item Function Setting Value (Default) TRUE Virtual Activate virtual axes. FALSE (FALSE) Linear Axis...
  • Page 277 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ⑧...
  • Page 278 A X - 5 S e r i e s O p e r a t i o n M a n u a l For MC_Power function block in POU, enter Pulse_Output_Axis_0 as the axis name.  7.7.7.6 Confirm High-Speed IO Errors Errors in Pulse Output Axis are displayed on Status tab under BuiltIn_IO page with messages notifying you of which pulse axis has an error.
  • Page 279 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.8 Other Features 7.7.8.1 Change Current Position...
  • Page 280 A X - 5 S e r i e s O p e r a t i o n M a n u a l Software display  Can be configured via DIADesigner-AX software. The positive and negative position are able to be resized on the configuration page: Item Data Type Default Setting...
  • Page 281 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.8.4 Cam Switch Function MC_DigitalCamSwitch Specify the tappet position.
  • Page 282 A X - 5 S e r i e s O p e r a t i o n M a n u a l When the first trigger signal is input, the signal is not accepted because the axis position hasn’t reached the specified window mask section.
  • Page 283 Reference CPU and Power Chapter 2 in this manual Related configuration description in Servo drive Delta servo drive user manuals Delta ASDA A2-E EtherCAT Wiring for EtherCAT slave device Interface Servo Drive User Manual 7.8.1.2 Configurations The following configuration is applied in the example in the next section.
  • Page 284 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.8.2 Examples The following example uses the same POU in EtherCAT task to explain. Also, the required variables will be declared and used in this POU Task.
  • Page 285 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Set the gear ratio as 10000:10000 for mechanism setting.
  • Page 286 A X - 5 S e r i e s O p e r a t i o n M a n u a l ST language  Check for the successful EtherCAT communication when Start is True so as to enable MC_Power via ServoOn output.
  • Page 287 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Variable Data Type Default...
  • Page 288 A X - 5 S e r i e s O p e r a t i o n M a n u a l Disable Execute input of MC_MoveVelocity to update the status of Error output. Set acceleration of MC_MoveVelocity to 10000 and restart (Execute is True). The output of MC_MoveVelocity would be Busy with values of fSetVelocity and fSetPosition shown on the Watch table under normal operation.
  • Page 289 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Enable:= TRUE);...
  • Page 290 A X - 5 S e r i e s O p e r a t i o n M a n u a l Timing Diagram  Start Servo On MC_Power Busy MC_Power Status ProgNext LD Language  Check if any errors have occurred in MC_Power before the program execution moves onto the next step. ST Language ...
  • Page 291 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.8.2.4 Quick Stop for Single Axes MC_Stop can be used to stop the moving axis when an error occurs during execution of MC_MoveAbsolute instruction.
  • Page 292 A X - 5 S e r i e s O p e r a t i o n M a n u a l LD Language  Execute homing under normal output status of MC_Power. Once homing is completed, execute MC_MoveAbsolute.
  • Page 293 /6099sub1(Speed during search for switch) /6099sub2(Speed during search for zero). For more details, please refer to Delta High Resolution AC Servo Drive ASDA-A2 Series User Manual. For the following example, specify the parameters of OD as mentioned above after adding A2-E servo in EtherCAT Slave.
  • Page 294 A X - 5 S e r i e s O p e r a t i o n M a n u a l Main variables used in programming  Variable Data Type Default Note Axis_1 AXIS_REF_SM3 Real axis variables ServoOn BOOL FALSE...
  • Page 295 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n LD language ...
  • Page 296 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.8.2.6 Absolute Positioning Via MC_MoveAbsolute instruction used in the following example, you are able to understand how to perform displacement at one single speed.
  • Page 297 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ST language ...
  • Page 298 A X - 5 S e r i e s O p e r a t i o n M a n u a l Default Variable Data Type Note Output Done variable of MC_Home for MC_Home0_Done BOOL FALSE master, TRUE when homing completed. Output Done variable of MC_Home for MC_Home1_Done BOOL...
  • Page 299 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Timing diagram ...
  • Page 300 A X - 5 S e r i e s O p e r a t i o n M a n u a l Under normal condition, master and slave axes will be set to Servo ON state. The master and slave axes are under Servo On state and the homes are unsure yet, so homing motions will be performed first.
  • Page 301 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n You can use two MC_CamTableSelect to two corresponding CamTables.
  • Page 302 A X - 5 S e r i e s O p e r a t i o n M a n u a l //Under normal condition, master and slave axes will be set to Servo ON state. MC_Power_0( Axis:= Axis_Master, Enable:= MC_Power0_Enable, bRegulatorOn:= MC_Power0_RegulatorOn,...
  • Page 303 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n // After the homing operation of master axis is completed, execute MC_Jog instruction.
  • Page 304 A X - 5 S e r i e s O p e r a t i o n M a n u a l Execute:= , Periodic:= TRUE, MasterAbsolute:= FALSE, SlaveAbsolute:= FALSE, Done=> MC_CamTableSelect_Done, Busy=> , Error=> , ErrorID=> , CamTableID=>...
  • Page 305 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n CommandAborted=>...
  • Page 306 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.8.2.8 Perform Master PhaseOffset for CAM After the slave axis is aborted during original CAM motion, it starts to synchronize with the controlled master axis. Phase offset of the master axis is operated by executing MC_Phasing when PhasingActive is TRUE, and the slave axis synchronizes with the phase after offset is completed.
  • Page 307 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Timing diagram ...
  • Page 308 A X - 5 S e r i e s O p e r a t i o n M a n u a l Under normal condition, master and slave axes will be set to Servo ON state. Master and slave axes are under Servo On state and homes are unsure, so homing motions will be operated first. After the homing operation of master axis is completed, execute MC_MoveVelocity.
  • Page 309 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n After the master axis reaches the target velocity, execute MC_CamIn with the Cam table specified by MC_CamTableSelect.
  • Page 310 A X - 5 S e r i e s O p e r a t i o n M a n u a l According to above setting to perform phase offset of the master axis, the slave axis synchronizes with the phase after offset is completed, and the Phase Shift would be fixed.
  • Page 311 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n bDriveStartRealState=>...
  • Page 312 A X - 5 S e r i e s O p e r a t i o n M a n u a l InVelocity=> MC_MoveVelocity_InVelocity, Busy=> , CommandAborted=> , Error=> , ErrorID=> ); // After the master axis reaches the target velocity, execute MC_CamIn with the Cam table specified by MC_CamTableSelect.
  • Page 313 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n MC_Phasing( Master:= Axis_Master, Slave:= Axis_Slave,...
  • Page 314 A X - 5 S e r i e s O p e r a t i o n M a n u a l Timing diagram  LD language  Set StartFlag to TRUE, and then the normal operation of communication for axis would be checked. Under normal condition, set the axis to be in state Servo On.
  • Page 315 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n After the homing operation of the axis is completed, execute MC_MoveRelative The target position of relative displacement = 8000 When the current axis position passes 4000, execute MC_SetPosition (Mode = Relative，Distance = 3000) so as...
  • Page 316 A X - 5 S e r i e s O p e r a t i o n M a n u a l The difference between the above and the picture below is that the mode of MC_SetPoition is changed to Absolute (Position = 3000).
  • Page 317 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n //Under Servo On state and with the home position unsure, homing operation will be required.
  • Page 318 A X - 5 S e r i e s O p e r a t i o n M a n u a l 7.8.2.10 Perform Superimposed during Gear Engagement Perform MC_MoveSuperImposed on the particular slave axis while the gear has been engaged in the following example.
  • Page 319 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Variable Data Type Default...
  • Page 320 A X - 5 S e r i e s O p e r a t i o n M a n u a l LD language  Set StartFlag to TRUE, and then the normal operation of communications for both master and slave axes would be checked respectively.
  • Page 321 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n After the homing operation is completed, execute MC_GearIn to activate a master-slave coupling (gear coupling).
  • Page 322 A X - 5 S e r i e s O p e r a t i o n M a n u a l ST language  Set StartFlag to be TRUE, and then the normal operation of communications for both master and slave axes would be checked respectively.
  • Page 323 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n MC_Power_1( Axis:= Axis_Slave, Enable:= MC_Power1_Enable,...
  • Page 324 A X - 5 S e r i e s O p e r a t i o n M a n u a l Execute:= MC_Home0_Done, RatioNumerator:= MC_GearIn_RatioNumerator, RatioDenominator:= MC_GearIn_RatioDenominator, Acceleration:= MC_GearIn_Acc, Deceleration:= MC_GearIn_Dec, Jerk:= , InGear=> MC_GearIn_InGear, Busy=> , CommandAborted=>...
  • Page 325 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Deceleration:= MC_MoveSuperImposed_Dec, Jerk:= , Done=>...
  • Page 326 A X - 5 S e r i e s O p e r a t i o n M a n u a l MEMO 7 - 1 7 6...
  • Page 327 Chapter 8 Communication Table of Contents 8.1 Introduction on EtherCAT Communication ..........8-3 8.1.1 Features of EtherCAT Fieldbus ..............8-3 8.1.2 Settings up EtherCAT Master ..............8-4 8.1.3 Setting up the EtherCAT Slave ..............8-6 8.1.4 Backup Parameters for EtherCAT Slaves ............ 8-9 8.1.5 Operational Example of EtherCAT Master ..........
  • Page 328 8.6.1 Setting up OPC UA Server ..............8-147 8.6.2 Setting up an Unencrypted Connection with the “UaExpert” Client ..... 8-149 8.6.3 Setting up an Encrypted Connection with the “UaExpert” Client ....8-150 8.7 CANopen ....................8-154 8.7.1 Introduction on CANopen ..............8-154 8.7.2 Creating a CANbus Component .............
  • Page 329 Ch ap te r 8 Co mmu nica tio n 8.1 Introduction on EtherCAT Communication 8.1.1 Features of EtherCAT Fieldbus The EtherCAT bus is the Ethernet-based fieldbus. The communication rate of the EtherCAT network is 100Mbps and the distance between two adjacent nodes is within 50 meters. The EtherCAT network is noticeably very different from the general Ethernet network.
  • Page 330 Network is identified by the network name and the project is device-independent.  Note: The EtherCAT communication port of AX-5 series PLC is identified as EtherCAT. ➂ Distributed Clock Cycle time: Master sends out corresponding data to the Slaves in a cycle time specified here. The setting ...
  • Page 331 Ch ap te r 8 Co mmu nica tio n  Here you can view the PLC log. It lists the events that were recorded on the target system. Refer to section 4.2.1.5 Log for more information. EtherCAT I/O Mapping ...
  • Page 332 AX-5 Ser i es O pera ti on Ma nua l 8.1.3 Setting up the EtherCAT Slave This section introduces functions in the tab of Slaves. General  Address  ➀ EtherCAT address: Final address of the slaves, assigned by the master during bootup. Distributed Clocks ...
  • Page 333 Ch ap te r 8 Co mmu nica tio n Process Data  The data mapping of the EtherCAT network is a cyclic data exchange between the master and slave t through the CoE-based PDO mapping. The data that a slave sends to the master are packed in TxPDO and the data that the slave reads from the master are packed in RxPDO.
  • Page 334 AX-5 Ser i es O pera ti on Ma nua l Click Add button to open the Select Item Object Directory window. And select the parameter that you’d like to add and then click OK to add the item in. 8 - 8...
  • Page 335 Ch ap te r 8 Co mmu nica tio n 8.1.4 Backup Parameters for EtherCAT Slaves While using EtherCAT communication, we provide custom parameter storage feature for ASDA series servo drives with the backup feature to backup and recover parameters of all slave stations. 8.1.4.1 Data Backup Procedure Backup procedure ...
  • Page 336 AX-5 Ser i es O pera ti on Ma nua l 8.1.4.2 Introduction to Backup and Restore Supported version for backup and restoration.  DIADesigner-AX version: V1.2 and above  Only models ASDA-A3-E and ASDA-B3-E are supported for parameter backup and restoration. ...
  • Page 337 Ch ap te r 8 Co mmu nica tio n Right-click the option EtherCAT_Master_SoftMotion (AX Series EtherCAT Master SoftMotion).  Parameter backup and restore page.  8 - 11...
  • Page 338 AX-5 Ser i es O pera ti on Ma nua l Name Function Online Device Select the target device to connect. Select EtherCAT project tree Archive File  EtherCAT topology file Generate Target Device List from Current Project  EtherCATtopology in the current project Online Topology ...
  • Page 339 Ch ap te r 8 Co mmu nica tio n Change the PLC state to Stop.  Click “Close” after the parameter backup is complete.  Backup directory  8 - 1 3...
  • Page 340 AX-5 Ser i es O pera ti on Ma nua l Name Function File Name Set the name for parameter backup file. Directory Set the backup directory. Clone to Other Devices Change all the backup directory of other devices. 8.1.4.2.2 Operation for the Restore Function Parameter restoration ...
  • Page 341 Ch ap te r 8 Co mmu nica tio n Click on the target device and set the path to the file to restore.  After you click Execute and click yes to stop the controller and servo for the moment. ...
  • Page 342 AX-5 Ser i es O pera ti on Ma nua l After the backup / restoration is completed, click close as the image shown below.  8 - 1 6...
  • Page 343 Ch ap te r 8 Co mmu nica tio n 8.1.5 Operational Example of EtherCAT Master This section uses coupler module AX-500CEC00-0A EtherCAT and DA module AX-504DA01-0A to demonstrate.  Select EtherCAT as the communication port for AX-5 Series PLC CPU. 8 - 1 7...
  • Page 344 AX-5 Ser i es O pera ti on Ma nua l  Add an EtherCAT Slave (the couple module AX-500CEC00-0A and DA module AX-504DA01-0A DA): Adding an EtherCAT Slave by using the function Scan for Devices or Add Device. This example uses Scan for Devices to add an EtherCAT Slave.
  • Page 345 Ch ap te r 8 Co mmu nica tio n 8 - 1 9...
  • Page 346 AX-5 Ser i es O pera ti on Ma nua l  Set up the channel mode as below. (Format: REAL) Channel Mode Setting Value: -10 to 10 V  Format value: REAL  CH0 Output Value Setting when EtherCAT Connection Closed: 4 V ...
  • Page 347 Before programming, it is important to make sure the memory locations are assigned to the channels and then declare the variables and assigned them to the memory locations. Refer to AX-5 Series Module Manual to check the setting range for each channel. -10 to 10 V: -30,000 to 30,000; 0 to 10 V: 0 to 30,000...
  • Page 348 8.2.1 Modbus Serial Port AX-5 Series PLC supports one RS-232 and one RS-485. Each Modbus Serial Port allows one master. A maximum of 32 Modbus Slave COM ports can be added to a Modbus Serial Master. But since RS-232 has no multipoint capability, only point-to-point connection is possible.
  • Page 349 Ch ap te r 8 Co mmu nica tio n Find Delta Modbus COM (Modbus -> Modbus Serial Port -> Delta Modbus COM) and then double-click it or click Add Device to add this port in. Find the added port Delta_Modbus_COM (Delta Modbus COM) in the tree view and double-click it to open the setting page to set up.
  • Page 350 0 to 3000 ms Send (ms) Transmission RTU, ASCII Mode  Status Here you can find the operational status, e.g. ‘Running’ or ‘Stopped’ for the Delta Modbus COM. Item Description Modbus Serial The status of Modbus Serial Communication 8 - 2 4...
  • Page 351 Ch ap te r 8 Co mmu nica tio n  Information Here you can find general information that originates from the device description file: name, vendor, categories, version, order number, description, and other relevant information. 8 - 2 5...
  • Page 352 Delta PLCs (X, M, D devices), no need to check for conversion anymore. Once you created Modbus Master COM port and then Modbus Slave COM port AX-5 Series, PLC can act as a Modbus Serial Master. Follow the below section to set up the Modbus Serial Master.
  • Page 353 Right-click the created Delta_Modbus_Master_COM_Port in the tree view to open a context menu. And click Add Device…to open the Add Device setting page. Find and double-click Delta Modbus Slave COM Port (Fieldbuses -> Modbus -> Modbus Serial Slave -> Delta Modbus Slave COM Port) or click Add Device to add this port in.
  • Page 354 AX-5 Ser i es O pera ti on Ma nua l 8.2.2.2 Setting up Delta Modbus Master COM Find the added port Delta_Modbus_Master_COM (Delta Modbus COM) in the tree view and double-click it to open the setting page to set up.
  • Page 355 Ch ap te r 8 Co mmu nica tio n  Delta Modbus Serial Master IEC Objects Here is the corresponding of the DFB_ModbusCOMMaster function block. You can check the status of Modbus Serial Master under this tab. Item Description...
  • Page 356 AX-5 Ser i es O pera ti on Ma nua l 8.2.2.3 Setting up Delta Modbus Slave COM In the tree view, find the added port Delta_Modbus_Slave_COM_Port (Delta Modbus Slave COM Port). Double-click it to open the setting page.  General Here you can configure the basic settings for Modbus Serial Slave COM Port, such as Slave Address, Response Timeout and Device Type.
  • Page 357 Here you can define slave channels. Each channel represents a single Modbus request. You can create up to 10 channels for each slave. AX-5 Series PLC will send out Modbus request packets in chronological order. All channels share the same Modbus connection.
  • Page 358 Handling  Keep last value Modbus Slave Init  After the Modbus connection between AX-5 Series PLC and the slaves is established, you can use Add Channel button to edit the Initialization Value of the Coil/Register. 8 - 3 2...
  • Page 359 ① The descriptions here reflect what you have set for the Access Type. ② When the Boolean variable Trigger type for this channel is set to Rising edge, the description here generates Trigger variable. The device type for this channel is Delta Devices (coils/registers). ③  Delta Modbus Serial Slave IEC Objects You can check the status of Modbus Serial Slave under this tab.
  • Page 360 AX-5 Ser i es O pera ti on Ma nua l Item Description bTrigger Activate all Modbus channels simultaneously. Re-establish the connection and reset bError and ModbusError when the connection bReset status shows error. And this function is only available when the option “Auto- Reconnect”...
  • Page 361 8.2.3 Modbus Serial Slave AX-5 Series PLC can act as a Modbus Serial Slave, after you add Modbus Serial Device in and set up the allowable areas for Coils/Register. If Modbus Serial Master uses Delta device communication protocol, there is no access restrictions.
  • Page 362  General Here you can configure the basic settings for Modbus Serial Device. Set up the allowable areas for Coils/Register. If Modbus Serial Master uses Delta device communication protocol, there is no access restrictions.  Delta Modbus Serial Slave Device I/O Mapping Bus cycle task: Select a bus cycle task to synchronize with the Modbus communication time.
  • Page 363 Ch ap te r 8 Co mmu nica tio n Status  Here you can find the Modbus Serial Slave Device status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device, also information about the card used and the internal bus system.
  • Page 364 8.3.2 Ethernet Two Ethernet ports are available for AX-5 Series CPU. You can set up two different IP addresses for the ports and then they can run individually. 8.3.2.1 Setting up the Ethernet Find the added Ethernet (Ethernet) in the tree view and double-click it to open the setting page for setup.
  • Page 365 Ch ap te r 8 Co mmu nica tio n  General Here you can configure Ethernet Parameters. Settings include Interface, IP address, Subnet mask, Default gateway and Adjust operating system settings can be set here.  Ethernet Device I/O Mapping Bus cycle task: Select a bus cycle task to synchronize with the communication time.
  • Page 366 AX-5 Ser i es O pera ti on Ma nua l  Status Here you can find the device status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device. Item Description Ethernet Device The status of Ethernet Communication Last Diagnostic Message Network diagnosis ...
  • Page 367 In addition to providing the standard Modbus communication protocol, the AX-5 Series PLC further executes the Delta controller internal device conversion (X, M, D devices, etc.), no need to check the conversion table. AX-5 Series PLC can act as a Modbus TCP Master, after you have created Modbus TCP Master and Modbus TCP Slave. Follow the below section to set up the Modbus TCP Master.
  • Page 368 AX-5 Ser i es O pera ti on Ma nua l Find and double-click Delta Modbus TCP Master (Fieldbuses -> Modbus -> Modbus TCP Master -> Delta Modbus TCP Master) or click Add Device to add this port in. After that you can find Delta_Modbus_TCP_Master in the tree view.
  • Page 369 Ch ap te r 8 Co mmu nica tio n Find and double-click Delta Modbus TCP Slave (Fieldbuses -> Modbus -> Modbus TCP Slave -> Delta Modbus TCP Slave) or click Add Device to add it in. After that you can find Delta_Modbus_TCP_Slave under the Delta_Modbus_TCP_Master node in the tree view.
  • Page 370  uiConnectedSlaves: the number of the connected Slaves  EX: (ST programming language): Delta Modbus TCP Master.bStop:= TRUE;  Status Here you can find the device status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device, also information about the card used and the internal bus system.
  • Page 371 Ch ap te r 8 Co mmu nica tio n 8.3.3.3 Setting up the Modbus TCP Slave In the tree view, find the Delta_Modbus_TCP_Slave (Delta Modbus TCP Slave) and double-click it to open the setting page to set up.  General Here you can configure the basic settings for Modbus TCP Slave, such as Slave Address, Response Timeout and Device Type.
  • Page 372 Here you can define slave channels. Each channel represents a single Modbus request. You can create up to 100 channels for each slave. AX-5 Series PLC will send out Modbus request packets in chronological order. All channels share the same one Modbus TCP connection.
  • Page 373  Application: The Modbus request is triggered by DFB_ModbusTCPChannel triggered by DFB_ModbusTCPChannel Comment Description of the channel Device Delta register address (will be converted into Modbus protocol address Address Modbus protocl in the background) Number of the register to be read/written to. Length Number of the register to be read/written to.
  • Page 374 Modbus Slave Init  After the Modbus connection between AX-5 Series PLC and the slaves is established, you can use Add Channel button to edit the Initialization Value of the Coil/Register. Click Add Channel, you can edit the Access Type, Device Address, Length, Initialization Value and Comment.
  • Page 375 ③ The controller registers that are read/written by this channel. Timing for the data refreshing; refer to section 4.2.1.6 PLC Settings for more information. ④  Delta Modbus TCP Slave IEC Objects You can check the status of Modbus TCP Slave under this tab. 8 - 4 9...
  • Page 376 AX-5 Ser i es O pera ti on Ma nua l Item Description If the option “Auto-Reconnect” is NOT enabled, during the data transmission, any bConfirmError channel that showed error stops. After the bConfirmError shows “TRUE”, the channel that showed error previously continues to execute. bDoInit Initialized the Slave bInitDone...
  • Page 377 8.3.4 Modbus TCP Slave (Server) AX-5 Series PLC can act as a Modbus TCP Slave, after you add Modbus TCP Slave Device in and set up the allowable areas for Coils/Register. If Modbus TCP Master uses Delta device communication protocol, there is no access restrictions.
  • Page 378 AX-5 Ser i es O pera ti on Ma nua l Find and double-click Delta Modbus TCP Slave Device (Fieldbuses -> Modbus -> Modbus TCP Slave Device -> Delta Modbus TCP Slave Device) or click Add Device to add this port in.
  • Page 379 Here you can configure the basic settings for Modbus TCP Slave Device. Set up the allowable areas for Coils/Register. If Modbus TCP Slave uses Delta device communication protocol, there is no access restrictions.  Delta Modbus TCP Slave Device I/O Mapping Bus cycle task: Select a bus cycle task to synchronize with the Modbus communication time.
  • Page 380 AX-5 Ser i es O pera ti on Ma nua l Status  Here you can find the Modbus TCP Slave Device status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device, also information about the card used and the internal bus system.
  • Page 381 Factory Automation (FA), Building Automation (BA), Process Automation (PA) and many more. Delta covers a full range of controller and drive products supported by EtherNet/IP, including Programmable Logic Controllers (PLC), inverters, Human Machine Interfaces (HMI) and so on. Refer to section 8.4.1.4 for a full product list supported by EtherNet/IP.
  • Page 382 AX-5 Ser i es O pera ti on Ma nua l 8.4.1.2 Features of Ethernet 8.4.1.2.1 Delta EIP Architecture This typical Delta EIP architecture includes EIP Scanner and Adapter; data mapping can be achieved between devices via an I/O connection and explicit message. 8.4.1.2.2 Features of EIP ...
  • Page 383 Ch ap te r 8 Co mmu nica tio n 8.4.1.2.3 Delta EIP Product List Delta EIP Products, Adapter supported  Positioning Product Firmware Version V2.00 AHCPU501-EN, AHCPU511-EN, AHCPU521-EN, AHCPU531-EN V1.00 AHCPU560-EN2 V2.00 AH10EN-5A V1.00 AHRTU-ETHN-5A V1.00 AH10EMC-5A V1.00 AS300 Series Mid-range V1.00...
  • Page 384 AX-5 Ser i es O pera ti on Ma nua l  Delta EIP Products, Scanner supported Positioning Product Firmware Version V2.00 AHCPU501-EN, AHCPU511-EN, AHCPU521-EN, AHCPU531-EN AHCPU560-EN2 V1.00 V2.00 AH10EN-5A Mid-range V1.00 AS300 Series, AS200 Series V1.10 AS100 Series AX-3 Series V1.01...
  • Page 385 EtherNet/IP Scanner Function Before utilizing the AX-5 Series PLC as an EtherNet/IP Scanner (master), you need to add Modbus TCP Master first and then Modbus TCP Slave. After completing the configurations, AX-5 Series PLC can act as an EtherNet/IP Scanner. The following steps demonstrate how to use AX-5 as an EtherNet/IP Scanner.
  • Page 386 AX-5 Ser i es O pera ti on Ma nua l To add an EtherNet/IP Adapter: Right-click the Ethernet_IP_Scanner (EtherNet/IP Scanner) in the tree view to open a context menu. And click Add Device…to open the setting page. Find and double-click the model under EtherNet/IP Adapter (Fieldbuses -> EtherNet/IP -> EtherNet/IP Remote Adapter ->...
  • Page 387 Ch ap te r 8 Co mmu nica tio n 8.4.2.2 Setting up EtherNet/IP Scanner Description Auto-reestablish connections: Enable this option to have this connection General established automatically if an error occurs or connection lost between the EtherNet/IP Adapter. Operational record of the EtherNet/IP Scanner You can set up the Bus Cycle Task for the EtherNet/IP Scanner;...
  • Page 388 AX-5 Ser i es O pera ti on Ma nua l 8.4.2.3 Setting up EtherNet/IP Adapter This section will explain how to set up an EtherNet/IP adapter (using AS332T). Refer to the followings for configuration.  General: You can set up the IP address as a condition to check if the EtherNet/IP Adapter to be connected is the right one.
  • Page 389 Ch ap te r 8 Co mmu nica tio n  Connections: This setting page is for data exchange between EtherNet/IP Scanner and EtherNet/IP Adapter. Here you can find the settings for connection names, PRI times, size between T -> O (Target -> Originator) or O - >T (Originator ->...
  • Page 390 AX-5 Ser i es O pera ti on Ma nua l  Log: This page shows the operational record of the EtherNet/IP adapter.  EtherNet/IP I/O Mapping: This page displays the corresponding memory location to the data, and the variable data type is determined by what you have defined on the Assembles setting page.
  • Page 391 Ch ap te r 8 Co mmu nica tio n  EtherNet/IP IEC Objects ： Item Description ON: Close all the EtherNet/IP connections and re-establish them (right- xReset edge triggered). xAcknowledge ON: Set the xDiagnosticAvaliable to OFF (right-edge triggered). eState State of EtherNet/IP Adapter xDiagnosticAvaliable ON: An error occurs.
  • Page 392 AX-5 Ser i es O pera ti on Ma nua l  Information: Information of the EtherNet/IP Adapter 8 - 6 6...
  • Page 393 Ch ap te r 8 Co mmu nica tio n 8.4.2.4 Tag Connection This section demonstrates how AX-5, as an EtherNet/IP Scanner, creates consumer tags to read data from the produced tags of the EIP Adapter. 8.4.2.4.1 Installing EDS file of the EtherNet/IP Adapter Install the EDS file of the EtherNet/IP Adapter ...
  • Page 394 AX-5 Ser i es O pera ti on Ma nua l 3. After that the EDS file is installed. 8 - 6 8...
  • Page 395 Ch ap te r 8 Co mmu nica tio n Adding EtherNet/IP Adapter (using AHCPU501-EN as an example) after installing its EDS file  Add Ethernet device. 8 - 6 9...
  • Page 396 AX-5 Ser i es O pera ti on Ma nua l 8 - 7 0...
  • Page 397 Ch ap te r 8 Co mmu nica tio n 2. Select the network interface. 3. Add EtherNet/IP Scanner. 8 - 7 1...
  • Page 398 AX-5 Ser i es O pera ti on Ma nua l 8 - 7 2...
  • Page 399 Ch ap te r 8 Co mmu nica tio n 4. Add AHCPU501-EN as an EtherNet/IP Adapter. 8 - 7 3...
  • Page 400 AX-5 Ser i es O pera ti on Ma nua l 8.4.2.4.2 Setting up EtherNet/IP Adapter (AHCPU501-EN) You can double click AHCPU501-EN (AHCPU501-EN) under Ethernet (Ethernet) to open the setting page. 8 - 7 4...
  • Page 401 Ch ap te r 8 Co mmu nica tio n  Define the IP address for EtherNet/IP Adapter.  Create EtherNet/IP Adapter Produced Tag Add an EtherNet/IP Adapter Tag Connection Note: ① comes with the imported EDS file for IO Connection, you can delete it if it’s not needed. 8 - 7 5...
  • Page 402 AX-5 Ser i es O pera ti on Ma nua l Set up EtherNet/IP Adapter Produced Tag You need to add a tag connection and set up the tag name, tag PRI, and the tag data bytes. As you can find in the example, the tag name is “wVar”, PRI time is set to 20 ms, and the tag data is 2 bytes.
  • Page 403 Ch ap te r 8 Co mmu nica tio n 8.4.2.5 Assemblies DIADesigner-AX may generate a data structure that does not align with your expectations. When this happens, you can reconfigure the data structure through Assemblies. For instance, if the Tag Connection data length is 4 bytes, but DIADesigner-AX automatically organizes it as one UINT and two bytes, the EtherNet/IP I/O Mapping page will display the Tag Connection data as three separate records, which can create difficulty in interpreting the data.
  • Page 404 AX-5 Ser i es O pera ti on Ma nua l  After assembling 8 - 7 8...
  • Page 405 Ch ap te r 8 Co mmu nica tio n 8.4.3 EtherNet/IP Adapter Function When the Delta_EtherNet_IP_Adapter is added, DIADesigner-AX will automatically generate the Delta_EtherNet_IP_Adapter.IOCycle and Delta_EtherNet_IP_Adapter.ServiceCycle POU and assign them to ENIPAdapterIOTask and ENIPAdapterServiceTask respectively. Do not adjust the allocation of POU and task settings unless necessary to avoid related functional abnormalities.
  • Page 406 AX-5 Ser i es O pera ti on Ma nua l 8 - 8 0...
  • Page 407 Ch ap te r 8 Co mmu nica tio n  Adding Delta_EtherNet_IP_Adapter Device 8 - 8 1...
  • Page 408 AX-5 Ser i es O pera ti on Ma nua l  Adding EtherNet/IP Adapter Data in. 8 - 8 2...
  • Page 409 Ch ap te r 8 Co mmu nica tio n  Delta EtherNet/IP Module Adding or setting the data type for EtherNet/IP Adapter through Delta EtherNet/IP Module. 8 - 8 3...
  • Page 410 AX-5 Ser i es O pera ti on Ma nua l 8.4.3.1.2 Setting up EtherNet/IP Adapter Delta EtherNet/IP Adapter  General – Setup EDS File  Item Description Default Vendor name The name of the supplier Delta electronics, inc. Vendor ID...
  • Page 411 Ch ap te r 8 Co mmu nica tio n 8.4.3.1.3. Tag Connection You can define the tags under Tags tab. And then EtherNet/IP Scanner can read or set up tags through Tag Connection. ① Connection Tag Name: EtherNet/IP Scanner uses the tag names defined here to perform data exchange. If this field is left blank, the data exchange will be performed by IO Connection.
  • Page 412 AX-5 Ser i es O pera ti on Ma nua l 8.4.3.1.4 Exporting an EDS File After the configuration is complete, export the EDS file and store the EDS file − AX-564EB0MB1T.eds in the PC. 8 - 8 6...
  • Page 413 Ch ap te r 8 Co mmu nica tio n 8.4.4 Operational Example of EtherNet/IP Scanner 8.4.4.1 Setting up Compact Inverter VFD-MS300 8.4.4.1.1 Hardware Configuration This application example is to connect AX-5 series to compact inverter VFD-MS300 with CMM-EIP communication card through Ethernet port. ERROR AX-564E...
  • Page 414 AX-5 Ser i es O pera ti on Ma nua l  Example of creating an EIP operation The IP address of the devices applied in this example are shown as follows: AX-54EB0MB1T 192.168.1.5 (default) Devices MS300 (CMM-EIP02) 192.168.1.30 Create a n EtherNet/IP Scanner and CMM-EIP02 (acts as EtherNet/I Adapter) under Ethernet. Refer to sections 8.4.1.1 and 8.4.2.1 for more details.
  • Page 415 Ch ap te r 8 Co mmu nica tio n Item Description IP address The IP address of the target device. Compatibility check Check the compatibility between the target device and information of EDS files. Strict identity check Strictly check the information of the target device and EDS files. Inspection information is user-defined.
  • Page 416 AX-5 Ser i es O pera ti on Ma nua l Double-click Motion_PRG to add programs as shown below. Implement the following procedure with online monitoring:  Turn on Motor_Mode.  Execute Motor_Speed and write 100 to the speed. (The unit is Hz; value is in two decimal places. For example, write 100 to get 1.00 Hz.) ...
  • Page 417 Ch ap te r 8 Co mmu nica tio n 8.4.4.1.3 CIP Object Read-Write Setting for Explicit Messages Refer to Appendix A <EtherNet/IP Service and Object> in VFD EtherNet/IP Application Manual to check the objects supported by the CMM-EIP communication card and make sure to learn read-write methods for explicit messages before using this function.
  • Page 418 AX-5 Ser i es O pera ti on Ma nua l 8.4.4.2 Read-Write to AS00SCM-A (AS-FEN02 Communication Card) The way to connect AS00SCM-RTU (AS-FEN02) via EtherNet/IP would be explained in this section. Please do read chapter 9 “Serial Communication Module AS00SCM” in AS Series Module Manual to understand the related settings and application of this module before actual operation.
  • Page 419 Ch ap te r 8 Co mmu nica tio n Data would be exchanged according to the sequence in the Normal Exchange Area on the third-party device. Take AS04DA-A for example, the first input value is an error code (All the error codes of the module are input values, which are defined to be tranmitted from the remote module to the scanner).
  • Page 420 AX-5 Ser i es O pera ti on Ma nua l 8.4.4.2.2 Download the EDS File of ASFEN02 (installed on AS00SCM-RTU) Download the EDS file of ASFEN02 (installed on AS00SCM-RTU) module from Delta’s official website. Download the EDS file. 1.1 Open Device Repository.
  • Page 421 Ch ap te r 8 Co mmu nica tio n 1.3 The download is complete. 8 - 9 5...
  • Page 422 AX-5 Ser i es O pera ti on Ma nua l After the download is complete, you can add the AS00SCM-RTU device. Refer to section 8.4.1.1 and 8.4.2.1 for more information on how to establish an Ethernet connection for EtherNet/IP Scanner and EtherNet/IP Adapter (AS00SCM-RTU) 8.4.4.2.3 Configure EtherNet/IP Parameters of AS00SCM-RTU You are allowed to open the parameter setting page or download the settings from AS00SCM-RTU device so as to start...
  • Page 423 Ch ap te r 8 Co mmu nica tio n Set the IP address of AS00SCM-RTU. Set Connection parameters for EtherNet/IP, which should be configured according to the actual IO module. (Refer to section 8.4.2.2.1 for more details of parameter settings. 8 - 9 7...
  • Page 424 AX-5 Ser i es O pera ti on Ma nua l ①: RPI: Requested Packet Interval. Connect to EtherNet/IP to exchange data at regular time intervals via the IO connection. ②: Timeout multiplier: Set up the timeout time according to the RPI or the multiple of RPI. ③: O ...
  • Page 425 Ch ap te r 8 Co mmu nica tio n Digital I/O Module T  O size bytes (Input) O  T size bytes (Output) AS16AP11R-A AS16AN01T-A AS16AN01P-A AS16AN01R-A AS32AM10N-A AS32AN02T-A AS64AM10N-A AS64AN02T-A  The input/output data length of different AIO modules Analog I/O Module T ...
  • Page 426 AX-5 Ser i es O pera ti on Ma nua l 8.4.4.2.4 Operation of the Right-side IO Modules of AS00SCM-RTU After the EtherNet/IP connection setting is complete, input and output data can be found on EtherNet/IP IO Mapping tab. Then you would be allowed to operate the IO module on the right side of AS00SCM-RTU. The following configuration shows that AS16AP11T-A (T ...
  • Page 427 Ch ap te r 8 Co mmu nica tio n Note 1: Please be noticed that channel mode and other related parameters of AIO modules should be configured first as detailed in section 8.4.2.2.1. Only reading and operating with IO channels would be explained in this section. Note 2: If the data type of values to read or write is floating point, you would need to exchange the high word and low word so as to display the correct values.
  • Page 428 AX-5 Ser i es O pera ti on Ma nua l 8.4.4.2.5 Parameter Information of AS00SCM-RTU Module The AS00SCM-RTU status can be diagnosed via the parameter information displayed on EtherNet/IP IO Mapping tab. ①: RTU state: Communication module status (0 = Normal; 1 = Error) ②: RTU error code: Please refer to section 9.7 Error Codes in AS Series Module Manual.
  • Page 429 8.4.5 Example of Connecting to a Third Party (Allen Bradley Controllogix 1756-L71) This section introduces how to connect Delta’s EtherNet/IP adapter via EtherNet/IP by using other brands’ software. The Rockwell’s software is used as an example in the following section.
  • Page 430 (unit: ms). Select the input type between Unicast and Multicast according to the feature supported by each product. Click OK after the Delta adapter has been successfully added and the model name would be displayed in the project ...
  • Page 431 Ch ap te r 8 Co mmu nica tio n RA EIP Scanner Delta EIP Adapter AX-5 PLC 1756-L71 + 1756-EN2TR Tag：I.Data [0] Parameter_0 Tag：I.Data [1] Parameter_1 Adapter ‧ ‧ Tag：I.Data Output ‧ ‧ Tag：I.Data [199] Parameter_199 Tag：O.Data [0] Adapter Parameter_0 Tag：O.Data...
  • Page 432 AX-5 Ser i es O pera ti on Ma nua l 8.4.6 CIP Object 8.4.6.1 Object List In EtherNet/IP, object is referred to as a set of parameters which are structured accordingly by Class, Instance and Attribute. For example, Instance 0 contains basic information of every object, e.g., version and length. While Instance from 1 to N creates connection or status of required parameters for each product.
  • Page 433 Ch ap te r 8 Co mmu nica tio n 8.4.6.2 Data Type This section will provide an overview of the supported data types by objects. Data Type Description BOOL False (H’00) or True (H’01) SINT (1 byte), INT (2 bytes), DINT (4 bytes), LINT (8 bytes) Number SINT 0LSB...
  • Page 434 AX-5 Ser i es O pera ti on Ma nua l Data Type Description A single string consists multiple language representation. Name Data Type Meaning The number of internationalized character Number USINT strings Array of: Array of individual internationalized character Strings Struct of: strings...
  • Page 435  When Instance =1, the Instance attributes are listed below: Access Instance Name Data Type Values Description Attribute Rule H’01 Vendor ID UINT H’31F Delta Electronics, inc. Data Type: Communication H’02 Device Type UINT H’0C Adapter H’03 Product Code UINT H’4002 Product code Revision of this device: Major.
  • Page 436 AX-5 Ser i es O pera ti on Ma nua l ※1 Status Description (H’05) Bit (s) Name Description Display if the device has an owner connection. Owned 0: No 1: Yes Reserved 0: Always OFF Display if the device is configured or not. Configured 0: No 1: Yes...
  • Page 437 Ch ap te r 8 Co mmu nica tio n 8.4.6.4 Assembly Object (Class ID: 04 Hex) Assembly Objects are used to aggregate data for the input data and output data associated with I/O connections.  Service Code Support Service Service Name Description Code...
  • Page 438 AX-5 Ser i es O pera ti on Ma nua l 8.4.6.5 TCP/IP Interface Object (Class ID: F5 Hex)  Service Code Support Service Service Name Description Code Class Attribute Instance Attribute H’0E Get_Attribute_Single Read a single attribute H’10 Set_Attribute_Single Set values of a single attribute ...
  • Page 439 Ch ap te r 8 Co mmu nica tio n Structure containing LastConflictDe STRUCT of (NoConflictDetect information related to the last tected conflict detected State of ACD activity when AcdActivity USINT last conflict detected H’0B MAC address of remote Array of 6 RemoteMAC node from the ARP PDU in USIN...
  • Page 440 AX-5 Ser i es O pera ti on Ma nua l 8.4.6.6 Ethernet Link Object (Class ID: F6 Hex）  Service Code Support Service Service Name Description Code Class Attribute Instance Attribute H’01 Get_Attributes_All Read multiple attributes H’0E Get_Attribute_Single Read a single attribute Read the attribute and then reset H’4C Get_and_Clear...
  • Page 441 Ch ap te r 8 Co mmu nica tio n Access Instance Data Name Values Description Attribute Type Rule Discards) Inbound packets with unknown In Unknown Protos UDINT protocol Out Octets UDINT Octets sent on the interface Unicast packets sent on the Out Ucast Packets UDINT interface...
  • Page 442 AX-5 Ser i es O pera ti on Ma nua l Access Instance Data Name Values Description Attribute Type Rule Times that the carrier sense condition was lost or never Carrier Sense Errors UDINT asserted when attempting to transmit a frame. Frames received that exceed the maximum permitted frame size Frame Too Long...
  • Page 443 Ch ap te r 8 Co mmu nica tio n Bit (s) Name Description 7-31 Reserved ※2 Interface Capability Bits Bit (s) Name Description Indicates whether or not the device requires a reset when instance attribute #6 (Interface Control attribute) changes. Manual Setting Requires Reset 0 indicates the device does not require a reset.
  • Page 444  8.5.1 PROFINET IO Controller Function 8.5.1.1 Add a PROFINET IO Controller This section will explain how to use AX-5 Series PLC as a PROFINET IO Controller. Follow the steps below to set up. Adding a PROFINET IO Controller ...
  • Page 445 Ch ap te r 8 Co mmu nica tio n 8 - 11 9...
  • Page 446 AX-5 Ser i es O pera ti on Ma nua l 8.5.1.2 Settings of PROFINET IO Controller This section introduces the PROFINET Controller setting pages. General  Define the station name and IP address and for the PROFINET Device here. 8 - 1 2 0...
  • Page 447 Ch ap te r 8 Co mmu nica tio n Item Description Station Name Station name of the Profinet controller Default Slave IP The Profinet IO Device will be assigned an IP address based on the specified IP address Parameter range when the "Auto-IP"...
  • Page 448 AX-5 Ser i es O pera ti on Ma nua l Topology  This page presents the Profinet network architecture and provides details about each adjacent device. On the left side, there is a depiction of the Profinet network architecture intended for the ongoing project, while the right side shows the real connection information.
  • Page 449 Ch ap te r 8 Co mmu nica tio n PNIO IEC Objects  Here you can find the status of the Profinet IO Controller.  Here you can find the log of the Profinet IO Controller. 8 - 1 2 3...
  • Page 450 AX-5 Ser i es O pera ti on Ma nua l Status  Here you can find the information of the Profinet IO Controller, including the operational status, the station name, IP parameters and so forth. Information  Here you can find general information of the Profinet IO Controller, including vendor, firmware version and other relevant information.
  • Page 451 Ch ap te r 8 Co mmu nica tio n 8.5.1.3 Operational Example of Profinet IO Controller 8.5.1.3.1 Example of Connecting AX-5 Series to AS300 and AS-FPFN02  Add a Profinet IO Device Adding a Profinet IO Device by using the function Scan for Devices or Add Device. This example uses Scan for Devices to add a Profinet IO Device.
  • Page 452 AX-5 Ser i es O pera ti on Ma nua l Prior to setting up the IP address of the Profinet IO Device, it is necessary to define the Station Name. The IP address can be set either by utilizing automatic assignment (Auto IP) or by manually inputting the IP address (Set Name and IP address).
  • Page 453 Ch ap te r 8 Co mmu nica tio n Set up the Station Name and IP address manually.  8 - 1 2 7...
  • Page 454 AX-5 Ser i es O pera ti on Ma nua l 8 - 1 2 8...
  • Page 455 Ch ap te r 8 Co mmu nica tio n  Add device and set up the data exchange configurations. You need to manually add a device and set up the data type, data size and device addresses for reading and writing.
  • Page 456 AX-5 Ser i es O pera ti on Ma nua l Specify the device addresses for data exchange (reading and writing).  You can specify the device address of the AS Series PLC CPU for reading and writing on the General page of the data exchange.
  • Page 457 Ch ap te r 8 Co mmu nica tio n Programming  Check the memory location corresponding to the data on the PNIO Module I/O Mapping page and make any necessary adjustments to the data format. Note: Since the byte order definition for AX Series PLC is different from that of AH and AS Series PLC, you must manually swap the High Byte and Low Byte.
  • Page 458 AX-5 Ser i es O pera ti on Ma nua l 8.5.1.3.2 Example of Connecting AX-5 Series to AX-500CPN00-0A  Add a Profinet IO Device Adding a Profinet IO Device by using the function Scan for Devices or Add Device. This example uses Scan for Devices to add a Profinet IO Device.
  • Page 459 Ch ap te r 8 Co mmu nica tio n Prior to setting up the IP address of the Profinet IO Device, it is necessary to define the Station Name. The IP address can be set either by utilizing automatic assignment (Auto IP) or by manually inputting the IP address (Set Name and IP address).
  • Page 460 AX-5 Ser i es O pera ti on Ma nua l Set up the Station Name and IP address manually.  8 - 1 3 4...
  • Page 461 Ch ap te r 8 Co mmu nica tio n 8 - 1 3 5...
  • Page 462 AX-5 Ser i es O pera ti on Ma nua l Example of mode setting and program writing for DA module (REAL Format) • CH0 Mode Setting: -10 V to +10 V  Format Setting: REAL  CH0 Output Value Setting when EtherCAT Connection Lost REAL: 4 V ...
  • Page 463 Ch ap te r 8 Co mmu nica tio n Prior to writing the program, it is necessary to identify the memory location assigned to the channel and to declare a REAL-type variable that is directly addressed to that memory location. 8 - 1 3 7...
  • Page 464 Channel setting range: -10 V to +10 V: -30,000 to 30,000; 0 V to +10 V: 0 to 30,000. Refer to AX-5 Series Module Manual for more channel setting ranges. Note: You can customize the module name in the tree structure. Here the pn_coupler_1_1 is AX-504DA01-0A.
  • Page 465 Ch ap te r 8 Co mmu nica tio n Prior to writing the program, it is necessary to identify the memory location assigned to the channel and to declare a DINT-type variable that is directly addressed to that memory location. 8 - 1 3 9...
  • Page 466 AX-5 Ser i es O pera ti on Ma nua l 8.5.2 PROFINET IO Device Function 8.5.2.1 Add a PROFINET IO Device This section will explain how to use AX-5 Series PLC as a PROFINET IO Device. Follow the steps below to set up. Adding a PROFINET IO Device ...
  • Page 467 Ch ap te r 8 Co mmu nica tio n 8 - 1 4 1...
  • Page 468 AX-5 Ser i es O pera ti on Ma nua l Adding a PROFINET IO Device  You can customize the data structure according to your specific requirements. 8 - 1 4 2...
  • Page 469 Ch ap te r 8 Co mmu nica tio n 8 - 1 4 3...
  • Page 470 AX-5 Ser i es O pera ti on Ma nua l 8.5.2.2 Settings of PROFINET Device This section introduces the PROFINET Device setting pages. General：  Define the IP address and station name for the PROFINET Device here. IP and Name Assignment ...
  • Page 471 Ch ap te r 8 Co mmu nica tio n Status  You can check the running status of the PROFINET Device on this page, including IP address, Station Name, time intervals for packet transmission, and many more to help you get to know the current operation. 8 - 1 4 5...
  • Page 472 AX-5 Ser i es O pera ti on Ma nua l 8.5.2.3 Export GSDML File This section introduces how to export a GSDML file. 8 - 1 4 6...
  • Page 473 Ch ap te r 8 Co mmu nica tio n 8.6 OPC UA Server The standard installation of DIADesigner-AX includes an OPC UA server. You can use it to access the variable interface of the controller via a client. The OPC UA server communicates with connected OPC UA clients over a separate TCP connection.
  • Page 474 AX-5 Ser i es O pera ti on Ma nua l Select Support OPC UA feature and click Add on the setting page of Add Symbol Configuration. After that Symbol Configuration setting page shows up automatically. Click Build on the Symbol Configuration setting page. The variables are shown in a tree structure. 8 - 1 4 8...
  • Page 475 Select the variables that you want to change with an OPC UA client. Specify the access rights. After setting, click Build again. Download the project to the AX-5 Series PLC. 8.6.2 Setting up an Unencrypted Connection with the “UaExpert” Client The OPC UA client “UaExpert (V1.7.1.540)”...
  • Page 476 AX-5 Ser i es O pera ti on Ma nua l 8.6.3 Setting up an Encrypted Connection with the “UaExpert” Client The OPC UA client “UaExpert (V1.7.1.540)” is freely accessible software. You can download the software here: https://www.unified-automation.com/downloads/opc-ua-clients.html Using this client, you can connect to the OPC UA server.
  • Page 477 Ch ap te r 8 Co mmu nica tio n Or you can double-click the icon to open the Security Screen setting page. Select the Devices tab. 8 - 1 5 1...
  • Page 478 AX-5 Ser i es O pera ti on Ma nua l To have the OPC UA Server and Encrypted Application take effect, select the service OPC UA Server and then click to open the Certificate Settings page for the creation of a new certificate for the device. After setting up the certificate parameters, click OK.
  • Page 479 Ch ap te r 8 Co mmu nica tio n 8.6.3.2 Example of Setting up an OPC UA Client (UaExpert) Double-click the UaExpert to start the UaExpert. Right-click Servers and then click Add to open Add Server window. Go to Custom Discovery -> Double click to Add Server...> and then type in “opc.tcp://192.168.1.5” in the Enter URL dialog.
  • Page 480 AX-5 Ser i es O pera ti on Ma nua l 8.7 CANopen 8.7.1 Introduction on CANopen CANopen is an open-source industrial protocol built upon the CAN bus, designed for efficient inter-device communication. Its real-time performance, reliability, and cost-effectiveness make it a popular choice for a wide range of applications, including industrial automation, automotive systems, and medical devices.
  • Page 481 Ch ap te r 8 Co mmu nica tio n 8 - 1 5 5...
  • Page 482 AX-5 Ser i es O pera ti on Ma nua l Setting up CANbus • Description Network: Code for the CAN bus interface. (set to 0) General Baud rate: CAN communication baud rate CANbus component operation log Status CANbus component current operation status The current CANbus component information includes manufacturer, Information firmware version, and more.
  • Page 483 Ch ap te r 8 Co mmu nica tio n 8.7.3 Creating a CANopen Manager This section shows how to set up the AX-5 Series PLC to function as a CANopen Manager. • Adding a CANopen Manager 8 - 1 5 7...
  • Page 484 AX-5 Ser i es O pera ti on Ma nua l 8 - 1 5 8...
  • Page 485 Ch ap te r 8 Co mmu nica tio n 8.7.4 Setting up CANopen Manager Description Category • Node-ID: CANopen Manager Node ID (1 to 127) Check and Fix Configuration: Validate and correct the settings. • Autostart CANopen Manager: • ：CANopen Manager: The CANopen Manager starts automatically (switches to OPERATIONAL mode) after all required slaves are ready.
  • Page 486 AX-5 Ser i es O pera ti on Ma nua l COB-ID (Hex): CAN-ID of the SYNC telegram. Range: 1 to 2047. • • Cycle period (µs): Interval length in microseconds after which the SYNC telegram is sent. Window length (µs): Length of the time frame for synchronous PDOs. •...
  • Page 487 8.7.5.1 Example of AS200 Series PLC CPU Import the EDS file of AS200 Series PLC CPU. • The EDS file of AS200 Series PLC CPU can be obtained from the Download Center of the Delta official website. 8 - 1 6 1...
  • Page 488 AX-5 Ser i es O pera ti on Ma nua l 8 - 1 6 2...
  • Page 489 Ch ap te r 8 Co mmu nica tio n • Add a CANopen Slave There are two ways to add CANopen devices: “Scan for Devices” and “Add Device”. This example will demonstrate the commonly used method “Scan for Devices”. Please note that before using the Scan for Devices method, you must download a project that includes the CANopen Manager component.
  • Page 490 AX-5 Ser i es O pera ti on Ma nua l Data mapping between Master and Slave in CANopen • When the AS Series PLC acts as a Slave, the output mapping areas are D25032–25063, and the input mapping areas are D24032–24063 as the following table shows.
  • Page 491 Ch ap te r 8 Co mmu nica tio n 8 - 1 6 5...
  • Page 492 AX-5 Ser i es O pera ti on Ma nua l MEMO 8 - 1 6 6...
  • Page 493 10 9 Chapter 9 Convenience Functions Table of Contents Recipe Manager ..................9-2 9.1.1 Configurations on the Recipe Management Page ........9-4 9.1.2 Recipe Definition ................9-6 9.1.3 Recipe ManCommands ............... 9-8 Startup Command ................... 10 9.2.1 Operation of Startup Command ............9-11 9.2.2 Example ..................
  • Page 494 A X - 5 S e r i e s O p e r a t i o n M a n u a l Recipe Manager The recipe manager allows you to import recipe files into specific variables in the controller, or export specific variables from the controller to recipe files.
  • Page 495 Ch ap te r 9 Conv en ienc e Fu nc tio ns Add Recipe Definition  9 - 3...
  • Page 496 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.1.1 Configurations on the Recipe Management Page Item Description Storage type Formats textual and binary are available to store the recipe files. Saving path for the recipe files.
  • Page 497 Ch ap te r 9 Conv en ienc e Fu nc tio ns Item Description Recipe management in the PLC Select this option to have this function activated. Save Recipe Select this option to enable automatic updating of the recipe file during Save recipe changes to recipe files project downloads, ensuring that any modifications to the recipe are automatically...
  • Page 498 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.1.2 Recipe Definition ❶ Recipe definition ❷ Recipe Item Description Variable You can choose any variable from the table, including those that are defined within the POU. Type This field is filled automatically with the data type locked in the variable.
  • Page 499 Ch ap te r 9 Conv en ienc e Fu nc tio ns  Adding recipes You can add recipes by right clicking the blank area and select Add a New Recipe.  Generating recipe files from the controller. 9 - 7...
  • Page 500 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.1.3 Recipe ManCommands The "RecipeManCommands" of the "Recipe_Management.library" provides several methods for users to import recipe files into variables, or export controller variables to recipe files.
  • Page 501 Ch ap te r 9 Conv en ienc e Fu nc tio ns  Example 2 In this example, “ReadAndSaveRecipe” and “ReadAndSaveAs” are used to export the controller variables to the default configuration file and to the specified file.  Set the variables “bVar0” and “bVar1” to ON and generate files and contents from the controller. 9 - 9...
  • Page 502 Restore to Factory Settings  Backup Application  Backup Source  Firmware Update  The followings support Startup Commands  AX-5 Series PLC with firmware version V1.0.0.0 or later  DIADesigner-AX version V1.4 or later  9 - 1 0...
  • Page 503 Ch ap te r 9 Conv en ienc e Fu nc tio ns 9.2.1 Operation of Startup Command Open Startup Command Setting Page  You can open the setting page of Startup Command with a specific controller or without. If you open Startup Command Setting Page without selecting a specific controller, you can edit the startup commands, but the applications or project archive cannot be generated.
  • Page 504 A X - 5 S e r i e s O p e r a t i o n M a n u a l Startup Command Setting Page  Function Button Description Add or insert Startup Command Startup Command template Save Startup Comman setting file Import Startup Command setting file Move the selected command downward...
  • Page 505 Ch ap te r 9 Conv en ienc e Fu nc tio ns Startup Commands  Startup Command Description Use the restored applications (Project Archive) from the selected Restore Application from Selected Device (*1) device and save them as the applications (Project Archive) of the current controller in a designed folder of a SD card.
  • Page 506 Click OK to export the command to the SD card inserted on your PC. 2. Insert the SD card to the AX-5 Series PLC (A) and then restart the power for backup. Wait for the RUN LED stops blinking to complete the task. And then take the SD card out.
  • Page 507 Take out this SD card and restart the power. After that the controller runs on the new version of the firmware. Example 3: If the login account and password of the AX-5 Series PLC are lost, you need to restore AX-5 ...
  • Page 508 A X - 5 S e r i e s O p e r a t i o n M a n u a l Protection Mechanisms The AX series controller provides different types of protection mechanisms to prevent users' projects from being opened or directly copied to unprotected controllers.
  • Page 509 Ch ap te r 9 Conv en ienc e Fu nc tio ns  Set up a password for the project.  After setting up a password for the project, a window will prompt you to enter the project password to open the project.
  • Page 510 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.3.1.2 Remote the Project Password  Open the Project Settings page. 9 - 1 8...
  • Page 511 Ch ap te r 9 Conv en ienc e Fu nc tio ns 9.3.2 Account Permission Project account permissions are used to manage editing, modifying, and other operations related to project contents. A default account will be created for all projects. Ensure that the default account password is either changed or deleted to prevent any misuse of the default project account.
  • Page 512 A X - 5 S e r i e s O p e r a t i o n M a n u a l  Set up a project account. Users tab: All currently defined users, and below them their memberships of user groups, are listed in a tree structure. Item Description Export/Import...
  • Page 513 Ch ap te r 9 Conv en ienc e Fu nc tio ns Item Description Maximum number of login attempt. Maximum number of Note: If you have tried to log in with an incorrect password the number of times authentication trials specified here, then the user account will be disabled.
  • Page 514 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.3.2.2 Project - User Log in User Login Method 1  9 - 2 2...
  • Page 515 Ch ap te r 9 Conv en ienc e Fu nc tio ns User Login Method 2  9 - 2 3...
  • Page 516 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.3.2.3 Properties All objects within the project tree structure can be assigned corresponding user permissions. The following example uses POU to illustrate this concept.
  • Page 517 Ch ap te r 9 Conv en ienc e Fu nc tio ns  Access Control Access Control defines which user groups are permitted to execute which actions on the object. For Everyone group: they are users without login; they only have permission to view but no permission to change or modify anything. When this user group try to edit or delete the contents in a POU, DIADesigner-AX will prompt a message to notify users which project account groups have permissions to carry out the relevant operations.
  • Page 518 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.3.3 Project ID and PLC ID When the PLC ID is activated on the AX series controller, the software "DIA Designer-AX" will verify the Project ID of the project with the PLC ID of the controller before allowing the project download process to proceed.
  • Page 519 Ch ap te r 9 Conv en ienc e Fu nc tio ns 9.3.3.2 Set up a PLC ID You can set up PLC ID in the PLC ID Setting page. Find Tools tab on the menu bar and click PLC ID to open its setting page.
  • Page 520 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.3.3.3 Delete a Project ID You can delete a Project ID by resetting it and then leaving the new Project ID blank. Note: If the original Project ID is lost, it cannot be deleted or modified.
  • Page 521 Ch ap te r 9 Conv en ienc e Fu nc tio ns 9.3.3.4 Delete a PLC ID You can delete a PLC ID by resetting it and then leaving the new PLC ID blank. Note: If the original PLC ID is lost, you need to rest origin the PLC. 9 - 2 9...
  • Page 522 A X - 5 S e r i e s O p e r a t i o n M a n u a l System Event From the setting page of “System Events” under the “Task Configuraiton”, you can set up Event Handlers and trigger events after the event occurs.
  • Page 523 Ch ap te r 9 Conv en ienc e Fu nc tio ns  On the setting page of Add Event Handler Item Description Event Event type Function to Call Function name Application: The function is available to the application. Scope POUs: The function is available to the entire project.
  • Page 524 A X - 5 S e r i e s O p e r a t i o n M a n u a l 9.4.2 Operational Example This section uses the event “StartDone” as an example. When the state of AX-Series controller changes from Stop to RUN, call event “StartDone”...
  • Page 525 Ch ap te r 9 Conv en ienc e Fu nc tio ns 9 - 3 3...
  • Page 526 A X - 5 S e r i e s O p e r a t i o n M a n u a l MEMO 9 - 3 4...
  • Page 527 12 A Appendix A Troubleshooting Table of Contents Troubleshooting ..................A-2 A.1.1 Basic Troubleshooting Steps ............... A-2 A.1.2 Clear the Error States ................A-2 A.1.3 Troubleshooting SOP ................. A-3 A.1.4 Viewing Log ..................... A-3 Troubleshooting of CPU Modules ............... A-6 A.2.1 ERROR LED Indicators Blinking Every 0.5 Seconds .........
  • Page 528  Check and mitigate any potential disruptions caused by external devices.  Use the System Log function in DIADesigner-AX to check system operation and logs. (3) Identify possible causes of errors:  AX-5 Series PLC or other external devices  PLC CPU or extension modules  Parameters or program settings A.1.2...
  • Page 529 Ap pen dix A Trou bl esh oo ting A.1.3 Troubleshooting SOP An error occured Basic Contact the local Error LED The problem persists troubleshooting Refer to section A.1.1 Refer to section A.2. authorized Blinking after restarting the done distributors. power.
  • Page 530 AX-5 Ser i es O pera ti on Ma nua l Files The system generates log files (.csv) when the PLC is power-off or the log exceeds 64 KB. You can read the log file from the Files tab of the Device setting page. A - 4...
  • Page 531 Ap pen dix A Trou bl esh oo ting A - 5...
  • Page 532 AX-5 Ser i es O pera ti on Ma nua l Troubleshooting of CPU Modules Check the LED indicators and the error codes from the CPU module and refer to the following table for troubleshooting. A.2.1 ERROR LED Indicators Blinking Every 0.5 Seconds ...
  • Page 533 Ap pen dix A Trou bl esh oo ting A.2.4 ERROR LED Indicators Are ON The CPU is experiencing a boot sector error. Error Code Description Solution (16#) Upgrade firmware. 2012 After firmware is upgraded, if the problem persists, contact the Boot sector failure local authorized distributors.
  • Page 534 Troubleshooting of the Function Blocks A.3.1 DL_BuiltInIO The following errors are specified as warnings and will be stated in the log of the PLC CPU; however, no error LED indicators will show and the AX-5 Series CPU runs without interruptions. Error Code Item Name...
  • Page 535 Ap pen dix A Trou bl esh oo ting Error Code Item Name Description Solution (16#) Make sure to select Compare on the IO The variable of the function DFB_CMP_INVALID_CO Configuration setting page and import IEC 186B6 block pin is NOT a MPARE_REF Object to the pin “Counter”...
  • Page 536 AX-5 Ser i es O pera ti on Ma nua l Error Code Item Name Description Solution (16#) DMC_PresetValue and is not done yet. DFB_PV_CANNOT_ The counter is executing Disable the sample function of this counter. 186D3 PRESET_WHEN_SAMP DFB_Sample. Disable DFB_Sample of this counter. LING The counter is executing Execute this function block after the...
  • Page 537 Ap pen dix A Trou bl esh oo ting Error Code Item Name Description Solution (16#) The counter is executing Execute this function block after the DFB_SR_PRESET_ 186EB DFB_PresetValue and is not execution of DFB_PresetValue of this NOT_DONE done yet. counter completes.
  • Page 538 AX-5 Ser i es O pera ti on Ma nua l Error Item Name Description Solution Code (16#) The DFB_ModbusComChannel Check if the channel is enabled.  is not supported by the Channel. DFB_CHANNEL_SETTI 19E24 Check if the Channel Trigger mode is ...
  • Page 539 Ap pen dix A Trou bl esh oo ting Error Item Name Description Solution Code (16#) The DFB_ModbusComChannel Check if the channel is enabled.  is not supported by the Channel. DFB_CHANNEL_SETTI 19E24 Check if the Channel Trigger mode is ...
  • Page 540 AX-5 Ser i es O pera ti on Ma nua l A.3.5 IoDrvEtherCATLib A.3.5.1 AL Status The errors occurred in AL_Status are specified as warnings; however, no error indicators will appear, and the AX Series CPU can still run. Refer to AX Series Motion Controller Manual for the troubleshooting. Error Code Item Name Description...
  • Page 541 Ap pen dix A Trou bl esh oo ting Error Code Item Name Description (16#) Fatal Sync error The synchronization with DC is not successful, possibly No Sync error because the jitter of the runtime is too large. Invalid DC SYNCH configurations Invalid DC latch configurations PLL error The slave synchronization is unsuccessful.
  • Page 542  The following AX-5 series modules can be installed in an AX-5 Series system. There are 2 types of error codes; error and warning. The CPU module and its modules stop operating when errors occur. The CPU modules and its modules do not stop operating when warnings are triggered.
  • Page 543 Ap pen dix A Trou bl esh oo ting A.4.2 Troubleshooting of Positioning Module (Pulse Unit) A.4.2.1 RROR LED Indicators Are ON Error Message  Index Subindex Error Code Description Error LED Solution 16#01 16#FF01 Unit Power Error Check the power supply. 1.
  • Page 544 AX-5 Ser i es O pera ti on Ma nua l A.4.3 Troubleshooting of Positioning Module (High-speed Counter) A.4.3.1 ERROR LED Indicators Are ON  Error Message Index Subindex Error Code Description Error LED Solution 16#01 16#FF01 Unit Power Error Check the power supply.
  • Page 545 Ap pen dix A Trou bl esh oo ting Index Subindex Error Code Description Error LED Solution 1. Check if CH0 DI Function DI0 has been set to Latch0 before using DI0 as “Latch”. CH0 DI Function Every 0.2 2. After Step 1 is done, set the CH 16#FF21 is not set to seconds...
  • Page 546 AX-5 Ser i es O pera ti on Ma nua l A.4.4 Troubleshooting of Load Cell Modules A.4.4.1 RROR LED Indicators Are ON Index Subindex Description Solution Channel Error LED (16#FF01) 16#01 Check the power supply. Unit Power Error 1. Check if the connections for the modules are secured.
  • Page 547 Ap pen dix A Trou bl esh oo ting Error Codes and LED Indicators for CPU Modules Columns Error code: If an error occurs in the system, an error code is generated. Description: The description of the error CPU status: If the error occurs, the status of the CPU. ...
  • Page 548 AX-5 Ser i es O pera ti on Ma nua l A.5.1 Error Codes and LED Indicators for CPU Modules CPU ERROR  ERROR LED indicator Error Code Description status Blinking Blinking Blinking (16#) fast normally slowly 2002 File containing corrupted O.S. firmware. Stop 24 vdc power supply is not sufficient and then is 2004...
  • Page 549 The errors are specified as warnings to ensure that the AX-5 Series CPU can still run even when the warnings are triggered by its modules. If you need the CPU STOP running immediately when the errors occur, you need to set them as errors in Module Hardware Configuration.
  • Page 550 AX-5 Ser i es O pera ti on Ma nua l A.5.3 Error Codes and LED Indicators for Positioning Module (Pulse Unit) Index Subindex Error Code Description Error LED 16#A001 16#01 16#FF81 Channel Hardware Alarm 2 seconds 16#FF01 Unit Power Error 16#FF02 EtherCAT Connection Lost 16#A000...
  • Page 551 Ap pen dix A Trou bl esh oo ting A.5.5 Error Codes and LED Indicators for Load Cell (HC) Module Index Subindex Description Channel Error LED 16#01 (16#FF01) Unit Power Error 16#02 (16#FF02) EtherCAT Disconnection 16#03 (16#FF03) ESC or EEPROM Error 16#A000 16#04 (16#FF04) Flash Error...
  • Page 552 AX-5 Ser i es O pera ti on Ma nua l MEMO A - 2 6...
  • Page 553 Unit 2, Building A, 18-24 Ricketts Road, TEL: +39 039 8900365 Mount Waverley, Victoria 3149 Australia Mail: IA.au@deltaww.com Delta Greentech Elektronik San. Ltd. Sti. ( Turkey ) TEL: +61-1300-335-823 / +61-3-9543-3720 Şerifali Mah. Hendem Cad. Kule Sok. No:16 - A 34775 Ümraniye – İstanbul Americas Mail: Sales.IA.Turkey@deltaww.com...

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